WPILibC++
unspecified
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Class for operating a compressor connected to a PCM (Pneumatic Control Module). More...
#include <Compressor.h>
Public Member Functions | |
Compressor (int pcmID=SensorBase::GetDefaultSolenoidModule()) | |
Constructor. More... | |
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 | InitSendable (SendableBuilder &builder) override |
Initializes this Sendable object. More... | |
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ErrorBase (const ErrorBase &)=delete | |
ErrorBase & | operator= (const ErrorBase &)=delete |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () const |
virtual void | SetErrnoError (const llvm::Twine &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, const llvm::Twine &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, const llvm::Twine &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, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const llvm::Twine &errorMessage, Error::Code code, const llvm::Twine &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... | |
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SendableBase (bool addLiveWindow=true) | |
Creates an instance of the sensor base. More... | |
~SendableBase () override | |
Free the resources used by this object. | |
std::string | GetName () const final |
Gets the name of this Sendable object. More... | |
void | SetName (const llvm::Twine &name) final |
Sets the name of this Sendable object. More... | |
std::string | GetSubsystem () const final |
Gets the subsystem name of this Sendable object. More... | |
void | SetSubsystem (const llvm::Twine &subsystem) final |
Sets the subsystem name of this Sendable object. More... | |
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void | SetName (const llvm::Twine &subsystem, const llvm::Twine &name) |
Sets both the subsystem name and device name of this Sendable object. More... | |
Protected Attributes | |
HAL_CompressorHandle | m_compressorHandle |
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Error | m_error |
Additional Inherited Members | |
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static void | SetGlobalError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (const llvm::Twine &errorMessage, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static Error & | GetGlobalError () |
Retrieve the current global error. | |
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void | AddChild (std::shared_ptr< Sendable > child) |
Add a child component. More... | |
void | AddChild (void *child) |
Add a child component. More... | |
void | SetName (const llvm::Twine &moduleType, int channel) |
Sets the name of the sensor with a channel number. More... | |
void | SetName (const llvm::Twine &moduleType, int moduleNumber, int channel) |
Sets the name of the sensor with a module and channel number. More... | |
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static wpi::mutex | _globalErrorMutex |
static Error | _globalError |
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.
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explicit |
Constructor.
module | The PCM ID to use (0-62) |
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.
bool Compressor::GetClosedLoopControl | ( | ) | const |
Returns true if the compressor will automatically turn on when the pressure is low.
double Compressor::GetCompressorCurrent | ( | ) | const |
Query how much current the compressor is drawing.
bool Compressor::GetCompressorCurrentTooHighFault | ( | ) | const |
Query if the compressor output has been disabled due to high current draw.
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.
bool Compressor::GetCompressorNotConnectedFault | ( | ) | const |
Query if the compressor output does not appear to be wired.
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.
bool Compressor::GetCompressorShortedFault | ( | ) | const |
Query if the compressor output has been disabled due to a short circuit.
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.
bool Compressor::GetPressureSwitchValue | ( | ) | const |
Check if the pressure switch is triggered.
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overridevirtual |
void Compressor::SetClosedLoopControl | ( | bool | on | ) |
Enables or disables automatically turning the compressor on when the pressure is low.
on | Set 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.