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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:
frc::ErrorBase frc::SendableBase frc::Sendable

Public Member Functions

 Compressor (int pcmID=SensorUtil::GetDefaultSolenoidModule())
 Constructor. More...
 
 Compressor (Compressor &&)=default
 
Compressoroperator= (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...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () 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...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (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...
 
- Public Member Functions inherited from frc::Sendable
 Sendable (Sendable &&)=default
 
Sendableoperator= (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
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
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 ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::SendableBase
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...
 

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

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

Constructor.

The default PCM ID is 0.

Parameters
moduleThe PCM ID to use (0-62)

Member Function Documentation

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.

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

Query how much current the compressor is drawing.

Returns
The current through the compressor, in amps
bool frc::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 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.

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

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

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

Check if the pressure switch is triggered.

Returns
true if pressure is low
void frc::Compressor::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

void frc::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 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.


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