WPILibC++
2019.1.1-beta-4-11-ga7f4e29
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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=SensorUtil::GetDefaultSolenoidModule()) | |
Constructor. More... | |
Compressor (Compressor &&)=default | |
Compressor & | operator= (Compressor &&)=default |
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 (ErrorBase &&)=default | |
ErrorBase & | operator= (ErrorBase &&)=default |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () const |
Retrieve the current error. More... | |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual void | SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (const ErrorBase &rhs) const |
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 (SendableBase &&rhs) | |
SendableBase & | operator= (SendableBase &&rhs) |
std::string | GetName () const final |
Gets the name of this Sendable object. More... | |
void | SetName (const wpi::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 wpi::Twine &subsystem) final |
Sets the subsystem name of this Sendable object. More... | |
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Sendable (Sendable &&)=default | |
Sendable & | operator= (Sendable &&)=default |
void | SetName (const wpi::Twine &subsystem, const wpi::Twine &name) |
Sets both the subsystem name and device name of this Sendable object. More... | |
Protected Attributes | |
HAL_CompressorHandle | m_compressorHandle = HAL_kInvalidHandle |
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Error | m_error |
Additional Inherited Members | |
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static void | SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static const 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 wpi::Twine &moduleType, int channel) |
Sets the name of the sensor with a channel number. More... | |
void | SetName (const wpi::Twine &moduleType, int moduleNumber, int channel) |
Sets the name of the sensor with a module and channel number. More... | |
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.
The default PCM ID is 0.
module | The PCM ID to use (0-62) |
void frc::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 frc::Compressor::Enabled | ( | ) | const |
Check if compressor output is active.
bool frc::Compressor::GetClosedLoopControl | ( | ) | const |
Returns true if the compressor will automatically turn on when the pressure is low.
double frc::Compressor::GetCompressorCurrent | ( | ) | const |
Query how much current the compressor is drawing.
bool frc::Compressor::GetCompressorCurrentTooHighFault | ( | ) | const |
Query if the compressor output has been disabled due to high current draw.
bool frc::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 frc::Compressor::GetCompressorNotConnectedFault | ( | ) | const |
Query if the compressor output does not appear to be wired.
bool frc::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 frc::Compressor::GetCompressorShortedFault | ( | ) | const |
Query if the compressor output has been disabled due to a short circuit.
bool frc::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 frc::Compressor::GetPressureSwitchValue | ( | ) | const |
Check if the pressure switch is triggered.
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overridevirtual |
void frc::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 frc::Compressor::Start | ( | ) |
Starts closed-loop control.
Note that closed loop control is enabled by default.
void frc::Compressor::Stop | ( | ) |
Stops closed-loop control.
Note that closed loop control is enabled by default.