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DoubleSolenoid Class Reference

DoubleSolenoid class for running 2 channels of high voltage Digital Output (PCM). More...

#include <DoubleSolenoid.h>

Inheritance diagram for DoubleSolenoid:
SolenoidBase LiveWindowSendable ITableListener SensorBase Sendable ErrorBase

Public Types

enum  Value { kOff, kForward, kReverse }
 

Public Member Functions

 DoubleSolenoid (uint32_t forwardChannel, uint32_t reverseChannel)
 Constructor. More...
 
 DoubleSolenoid (uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel)
 Constructor. More...
 
virtual ~DoubleSolenoid ()
 Destructor.
 
virtual void Set (Value value)
 Set the value of a solenoid. More...
 
virtual Value Get () const
 Read the current value of the solenoid. More...
 
bool IsFwdSolenoidBlackListed () const
 Check if the forward solenoid is blacklisted. More...
 
bool IsRevSolenoidBlackListed () const
 Check if the reverse solenoid is blacklisted. More...
 
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew)
 
void UpdateTable ()
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode ()
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode ()
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const
 
void InitTable (std::shared_ptr< ITable > subTable)
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const
 
- Public Member Functions inherited from SolenoidBase
uint8_t GetAll (int module=0) const
 Read all 8 solenoids as a single byte. More...
 
uint8_t GetPCMSolenoidBlackList (int module) const
 Reads complete solenoid blacklist for all 8 solenoids as a single byte. More...
 
bool GetPCMSolenoidVoltageStickyFault (int module) const
 
bool GetPCMSolenoidVoltageFault (int module) const
 
void ClearAllPCMStickyFaults (int module)
 Clear ALL sticky faults inside PCM that Compressor is wired to. 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 ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew)=0
 Called when a key-value pair is changed in a ITable. More...
 
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

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 SolenoidBase
 SolenoidBase (uint8_t pcmID)
 Constructor. More...
 
void Set (uint8_t value, uint8_t mask, int module)
 Set the value of a solenoid. More...
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from SolenoidBase
uint32_t m_moduleNumber
 Slot number where the module is plugged into the chassis. More...
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from SolenoidBase
static const int m_maxModules = 63
 
static const int m_maxPorts = 8
 
static void * m_ports [m_maxModules][m_maxPorts]
 
static std::unique_ptr< Resourcem_allocated
 
- 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

DoubleSolenoid class for running 2 channels of high voltage Digital Output (PCM).

The DoubleSolenoid class is typically used for pneumatics solenoids that have two positions controlled by two separate channels.

Constructor & Destructor Documentation

DoubleSolenoid::DoubleSolenoid ( uint32_t  forwardChannel,
uint32_t  reverseChannel 
)
explicit

Constructor.

Uses the default PCM ID of 0

Parameters
forwardChannelThe forward channel number on the PCM (0..7).
reverseChannelThe reverse channel number on the PCM (0..7).
DoubleSolenoid::DoubleSolenoid ( uint8_t  moduleNumber,
uint32_t  forwardChannel,
uint32_t  reverseChannel 
)

Constructor.

Parameters
moduleNumberThe CAN ID of the PCM.
forwardChannelThe forward channel on the PCM to control (0..7).
reverseChannelThe reverse channel on the PCM to control (0..7).

Member Function Documentation

DoubleSolenoid::Value DoubleSolenoid::Get ( ) const
virtual

Read the current value of the solenoid.

Returns
The current value of the solenoid.
std::string DoubleSolenoid::GetSmartDashboardType ( ) const
virtual
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 > DoubleSolenoid::GetTable ( ) const
virtual
Returns
the table that is currently associated with the sendable

Implements Sendable.

void DoubleSolenoid::InitTable ( std::shared_ptr< ITable subtable)
virtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements Sendable.

bool DoubleSolenoid::IsFwdSolenoidBlackListed ( ) const

Check if the forward solenoid is blacklisted.

If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

See Also
ClearAllPCMStickyFaults()
Returns
If solenoid is disabled due to short.
bool DoubleSolenoid::IsRevSolenoidBlackListed ( ) const

Check if the reverse solenoid is blacklisted.

If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

See Also
ClearAllPCMStickyFaults()
Returns
If solenoid is disabled due to short.
void DoubleSolenoid::Set ( Value  value)
virtual

Set the value of a solenoid.

Parameters
valueThe value to set (Off, Forward or Reverse)

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