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Compressor Class Reference

PCM compressor. More...

#include <Compressor.h>

Inheritance diagram for Compressor:
SensorBase LiveWindowSendable ITableListener ErrorBase Sendable

Public Member Functions

 Compressor (uint8_t pcmID=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...
 
float 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< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
 Called when a key-value pair is changed in a ITable. More...
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from 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, uint32_t 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, uint32_t 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, uint32_t 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, uint32_t 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...
 
- Public Member Functions inherited from ITableListener
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

Protected Attributes

void * m_pcm_pointer
 
- Protected Attributes inherited from ErrorBase
Error m_error
 

Additional Inherited Members

- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

PCM compressor.

Constructor & Destructor Documentation

Compressor::Compressor ( uint8_t  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.
float 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 Sendable.

std::shared_ptr< ITable > Compressor::GetTable ( ) const
overridevirtual
Returns
the table that is currently associated with the sendable

Implements Sendable.

void Compressor::InitTable ( std::shared_ptr< ITable subtable)
overridevirtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements 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.

void Compressor::ValueChanged ( ITable source,
llvm::StringRef  key,
std::shared_ptr< nt::Value value,
bool  isNew 
)
overridevirtual

Called when a key-value pair is changed in a ITable.

Parameters
sourcethe table the key-value pair exists in
keythe key associated with the value that changed
valuethe new value
isNewtrue if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.


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