WPILibC++  2021.3.1
frc::Solenoid Class Reference

Solenoid class for running high voltage Digital Output (PCM). More...

#include <frc/Solenoid.h>

Inheritance diagram for frc::Solenoid:
frc::SolenoidBase frc::Sendable frc::SendableHelper< Solenoid > frc::ErrorBase

Public Member Functions

 Solenoid (int channel)
 Constructor using the default PCM ID (0). More...
 
 Solenoid (int moduleNumber, int channel)
 Constructor. More...
 
 Solenoid (Solenoid &&)=default
 
Solenoidoperator= (Solenoid &&)=default
 
virtual void Set (bool on)
 Set the value of a solenoid. More...
 
virtual bool Get () const
 Read the current value of the solenoid. More...
 
void Toggle ()
 Toggle the value of the solenoid. More...
 
int GetChannel () const
 Get the channel this solenoid is connected to.
 
bool IsBlackListed () const
 Check if solenoid is blacklisted. More...
 
void SetPulseDuration (double durationSeconds)
 Set the pulse duration in the PCM. More...
 
void StartPulse ()
 Trigger the PCM to generate a pulse of the duration set in setPulseDuration. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::SolenoidBase
int GetModuleNumber () const
 Get the CAN ID of the module this solenoid is connected to. More...
 
int GetAll () const
 Read all 8 solenoids as a single byte. More...
 
int GetPCMSolenoidBlackList () const
 Reads complete solenoid blacklist for all 8 solenoids as a single byte. More...
 
bool GetPCMSolenoidVoltageStickyFault () const
 
bool GetPCMSolenoidVoltageFault () const
 
void ClearAllPCMStickyFaults ()
 Clear ALL sticky faults inside PCM that Compressor is wired to. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 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...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::SendableHelper< Solenoid >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::SolenoidBase
static int GetAll (int module)
 Read all 8 solenoids as a single byte. More...
 
static int GetPCMSolenoidBlackList (int module)
 Reads complete solenoid blacklist for all 8 solenoids as a single byte. More...
 
static bool GetPCMSolenoidVoltageStickyFault (int module)
 
static bool GetPCMSolenoidVoltageFault (int module)
 
static void ClearAllPCMStickyFaults (int module)
 Clear ALL sticky faults inside PCM that Compressor is wired to. More...
 
- 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 Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Member Functions inherited from frc::SolenoidBase
 SolenoidBase (int pcmID)
 Constructor. More...
 
 SolenoidBase (SolenoidBase &&)=default
 
SolenoidBaseoperator= (SolenoidBase &&)=default
 
- Protected Member Functions inherited from frc::SendableHelper< Solenoid >
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...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
- Protected Attributes inherited from frc::SolenoidBase
int m_moduleNumber
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::SolenoidBase
static constexpr int m_maxModules = 63
 
static constexpr int m_maxPorts = 8
 

Detailed Description

Solenoid class for running high voltage Digital Output (PCM).

The Solenoid class is typically used for pneumatics solenoids, but could be used for any device within the current spec of the PCM.

Constructor & Destructor Documentation

◆ Solenoid() [1/2]

frc::Solenoid::Solenoid ( int  channel)
explicit

Constructor using the default PCM ID (0).

Parameters
channelThe channel on the PCM to control (0..7).

◆ Solenoid() [2/2]

frc::Solenoid::Solenoid ( int  moduleNumber,
int  channel 
)

Constructor.

Parameters
moduleNumberThe CAN ID of the PCM the solenoid is attached to
channelThe channel on the PCM to control (0..7).

Member Function Documentation

◆ Get()

virtual bool frc::Solenoid::Get ( ) const
virtual

Read the current value of the solenoid.

Returns
The current value of the solenoid.

◆ InitSendable()

void frc::Solenoid::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

◆ IsBlackListed()

bool frc::Solenoid::IsBlackListed ( ) const

Check if 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.

◆ Set()

virtual void frc::Solenoid::Set ( bool  on)
virtual

Set the value of a solenoid.

Parameters
onTurn the solenoid output off or on.

◆ SetPulseDuration()

void frc::Solenoid::SetPulseDuration ( double  durationSeconds)

Set the pulse duration in the PCM.

This is used in conjunction with the startPulse method to allow the PCM to control the timing of a pulse. The timing can be controlled in 0.01 second increments.

Parameters
durationSecondsThe duration of the pulse, from 0.01 to 2.55 seconds.
See also
startPulse()

◆ StartPulse()

void frc::Solenoid::StartPulse ( )

Trigger the PCM to generate a pulse of the duration set in setPulseDuration.

See also
setPulseDuration()

◆ Toggle()

void frc::Solenoid::Toggle ( )

Toggle the value of the solenoid.

If the solenoid is set to on, it'll be turned off. If the solenoid is set to off, it'll be turned on.


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