WPILibC++  unspecified
frc::Compressor Class Reference

Class for operating a compressor connected to a PCM (Pneumatic Control Module). More...

#include <Compressor.h>

Inheritance diagram for frc::Compressor:
Collaboration diagram for frc::Compressor:

Public Member Functions

 Compressor (int pcmID=GetDefaultSolenoidModule())
 Constructor. More...
 
virtual ~Compressor ()
 Destructor.
 
void Start ()
 Starts closed-loop control. More...
 
void Stop ()
 Stops closed-loop control. More...
 
bool Enabled () const
 Check if compressor output is active. More...
 
bool GetPressureSwitchValue () const
 Check if the pressure switch is triggered. More...
 
double GetCompressorCurrent () const
 Query how much current the compressor is drawing. More...
 
void SetClosedLoopControl (bool on)
 Enables or disables automatically turning the compressor on when the pressure is low. More...
 
bool GetClosedLoopControl () const
 Returns true if the compressor will automatically turn on when the pressure is low. More...
 
bool GetCompressorCurrentTooHighFault () const
 Query if the compressor output has been disabled due to high current draw. More...
 
bool GetCompressorCurrentTooHighStickyFault () const
 Query if the compressor output has been disabled due to high current draw (sticky). More...
 
bool GetCompressorShortedStickyFault () const
 Query if the compressor output has been disabled due to a short circuit (sticky). More...
 
bool GetCompressorShortedFault () const
 Query if the compressor output has been disabled due to a short circuit. More...
 
bool GetCompressorNotConnectedStickyFault () const
 Query if the compressor output does not appear to be wired (sticky). More...
 
bool GetCompressorNotConnectedFault () const
 Query if the compressor output does not appear to be wired. More...
 
void ClearAllPCMStickyFaults ()
 Clear ALL sticky faults inside PCM that Compressor is wired to. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< nt::NetworkTable > subTable) override
 Initializes a table for this sendable object. More...
 
- Public Member Functions inherited from frc::SensorBase
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Protected Attributes

HAL_CompressorHandle m_compressorHandle
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::SensorBase
static int GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (int moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (int channel)
 Check that the relay channel number is valid. More...
 
static bool CheckPWMChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInputChannel (int channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutputChannel (int channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (int channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (int channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from frc::SensorBase
static const int kDigitalChannels = HAL_GetNumDigitalChannels()
 
static const int kAnalogInputs = HAL_GetNumAnalogInputs()
 
static const int kAnalogOutputs
 
static const int kSolenoidChannels = HAL_GetNumSolenoidChannels()
 
static const int kSolenoidModules = HAL_GetNumPCMModules()
 
static const int kPwmChannels = HAL_GetNumPWMChannels()
 
static const int kRelayChannels = HAL_GetNumRelayHeaders()
 
static const int kPDPChannels = HAL_GetNumPDPChannels()
 
- Static Protected Attributes inherited from frc::ErrorBase
static std::mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

Class for operating a compressor connected to a PCM (Pneumatic Control Module).

The PCM will automatically run in closed loop mode by default whenever a Solenoid object is created. For most cases, a Compressor object does not need to be instantiated or used in a robot program. This class is only required in cases where the robot program needs a more detailed status of the compressor or to enable/disable closed loop control.

Note: you cannot operate the compressor directly from this class as doing so would circumvent the safety provided by using the pressure switch and closed loop control. You can only turn off closed loop control, thereby stopping the compressor from operating.

Constructor & Destructor Documentation

Compressor::Compressor ( int  pcmID = GetDefaultSolenoidModule())
explicit

Constructor.

Parameters
moduleThe PCM ID to use (0-62)

Member Function Documentation

void Compressor::ClearAllPCMStickyFaults ( )

Clear ALL sticky faults inside PCM that Compressor is wired to.

If a sticky fault is set, then it will be persistently cleared. Compressor drive maybe momentarily disable while flags are being cleared. Care should be taken to not call this too frequently, otherwise normal compressor functionality may be prevented.

If no sticky faults are set then this call will have no effect.

bool Compressor::Enabled ( ) const

Check if compressor output is active.

Returns
true if the compressor is on
bool Compressor::GetClosedLoopControl ( ) const

Returns true if the compressor will automatically turn on when the pressure is low.

Returns
True if closed loop control of the compressor is enabled. False if disabled.
double Compressor::GetCompressorCurrent ( ) const

Query how much current the compressor is drawing.

Returns
The current through the compressor, in amps
bool Compressor::GetCompressorCurrentTooHighFault ( ) const

Query if the compressor output has been disabled due to high current draw.

Returns
true if PCM is in fault state : Compressor Drive is disabled due to compressor current being too high.
bool Compressor::GetCompressorCurrentTooHighStickyFault ( ) const

Query if the compressor output has been disabled due to high current draw (sticky).

A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.

Returns
true if PCM sticky fault is set : Compressor Drive is disabled due to compressor current being too high.
bool Compressor::GetCompressorNotConnectedFault ( ) const

Query if the compressor output does not appear to be wired.

Returns
true if PCM is in fault state : Compressor does not appear to be wired, i.e. compressor is not drawing enough current.
bool Compressor::GetCompressorNotConnectedStickyFault ( ) const

Query if the compressor output does not appear to be wired (sticky).

A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.

Returns
true if PCM sticky fault is set : Compressor does not appear to be wired, i.e. compressor is not drawing enough current.
bool Compressor::GetCompressorShortedFault ( ) const

Query if the compressor output has been disabled due to a short circuit.

Returns
true if PCM is in fault state : Compressor output appears to be shorted.
bool Compressor::GetCompressorShortedStickyFault ( ) const

Query if the compressor output has been disabled due to a short circuit (sticky).

A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.

Returns
true if PCM sticky fault is set : Compressor output appears to be shorted.
bool Compressor::GetPressureSwitchValue ( ) const

Check if the pressure switch is triggered.

Returns
true if pressure is low
std::string Compressor::GetSmartDashboardType ( ) const
overridevirtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements frc::Sendable.

void Compressor::InitTable ( std::shared_ptr< nt::NetworkTable subtable)
overridevirtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements frc::Sendable.

void Compressor::SetClosedLoopControl ( bool  on)

Enables or disables automatically turning the compressor on when the pressure is low.

Parameters
onSet to true to enable closed loop control of the compressor. False to disable.
void Compressor::Start ( )

Starts closed-loop control.

Note that closed loop control is enabled by default.

void Compressor::Stop ( )

Stops closed-loop control.

Note that closed loop control is enabled by default.


The documentation for this class was generated from the following files: