Package edu.wpi.first.wpilibj

Class PneumaticHub

java.lang.Object

edu.wpi.first.wpilibj.PneumaticHub

All Implemented Interfaces:

PneumaticsBase, AutoCloseable

public class PneumaticHub
extends Object
implements PneumaticsBase

Module class for controlling a REV Robotics Pneumatic Hub.

Constructor Summary

Constructors

Constructor	Description
PneumaticHub()	Constructs a PneumaticHub with the default ID (1).
PneumaticHub(int module)	Constructs a PneumaticHub.

Method Summary

Modifier and Type	Method	Description
int	checkAndReserveSolenoids(int mask)	Check to see if the masked solenoids can be reserved, and if not reserve them.
boolean	checkSolenoidChannel(int channel)	Check if a solenoid channel is valid.
void	clearStickyFaults()	Clears the sticky faults.
void	close()
void	disableCompressor()	Disables the compressor.
void	enableCompressorAnalog(double minPressure, double maxPressure)	Enables the compressor in analog mode.
void	enableCompressorDigital()	Enables the compressor in digital mode using the digital pressure switch.
void	enableCompressorHybrid(double minPressure, double maxPressure)	Enables the compressor in hybrid mode.
void	fireOneShot(int index)	Fire a single solenoid shot.
double	get5VRegulatedVoltage()	Returns the current voltage of the regulated 5v supply.
double	getAnalogVoltage(int channel)	Returns the raw voltage of the specified analog input channel.
boolean	getCompressor()	Returns whether the compressor is active or not.
CompressorConfigType	getCompressorConfigType()	Returns the active compressor configuration.
double	getCompressorCurrent()	Returns the current drawn by the compressor in amps.
REVPHFaults	getFaults()	Returns the faults currently active on this device.
double	getInputVoltage()	Returns the current input voltage for this device.
int	getModuleNumber()	Get module number for this module.
double	getPressure(int channel)	Returns the pressure read by an analog pressure sensor on the specified analog input channel.
boolean	getPressureSwitch()	Returns the state of the pressure switch.
int	getSolenoidDisabledList()	Get a bitmask of disabled solenoids.
int	getSolenoids()	Gets a bitmask of solenoid values.
double	getSolenoidsTotalCurrent()	Returns the total current (in amps) drawn by all solenoids.
double	getSolenoidsVoltage()	Returns the current voltage of the solenoid power supply.
REVPHStickyFaults	getStickyFaults()	Returns the sticky faults currently active on this device.
REVPHVersion	getVersion()	Returns the hardware and firmware versions of this device.
Compressor	makeCompressor()
DoubleSolenoid	makeDoubleSolenoid(int forwardChannel, int reverseChannel)
Solenoid	makeSolenoid(int channel)
boolean	reserveCompressor()
void	setOneShotDuration(int index, int durMs)	Set the duration for a single solenoid shot.
void	setSolenoids(int mask, int values)	Sets solenoids on a pneumatics module.
void	unreserveCompressor()
void	unreserveSolenoids(int mask)	Unreserve the masked solenoids.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PneumaticHub

public PneumaticHub()

Constructs a PneumaticHub with the default ID (1).

PneumaticHub

public PneumaticHub(int module)

Constructs a PneumaticHub.

Parameters:

module - module number to construct

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in interface PneumaticsBase

getCompressor

public boolean getCompressor()

Description copied from interface: PneumaticsBase

Returns whether the compressor is active or not.

Specified by:

getCompressor in interface PneumaticsBase

Returns:

True if the compressor is on - otherwise false.

getCompressorConfigType

public CompressorConfigType getCompressorConfigType()

Description copied from interface: PneumaticsBase

Returns the active compressor configuration.

Specified by:

getCompressorConfigType in interface PneumaticsBase

Returns:

The active compressor configuration.

getPressureSwitch

public boolean getPressureSwitch()

Description copied from interface: PneumaticsBase

Returns the state of the pressure switch.

Specified by:

getPressureSwitch in interface PneumaticsBase

Returns:

True if pressure switch indicates that the system is not full, otherwise false.

getCompressorCurrent

public double getCompressorCurrent()

Description copied from interface: PneumaticsBase

Returns the current drawn by the compressor in amps.

Specified by:

getCompressorCurrent in interface PneumaticsBase

Returns:

The current drawn by the compressor.

setSolenoids

public void setSolenoids(int mask, int values)

Description copied from interface: PneumaticsBase

Sets solenoids on a pneumatics module.

Specified by:

setSolenoids in interface PneumaticsBase

Parameters:

mask - mask

values - values

getSolenoids

public int getSolenoids()

Description copied from interface: PneumaticsBase

Gets a bitmask of solenoid values.

Specified by:

getSolenoids in interface PneumaticsBase

Returns:

values

getModuleNumber

public int getModuleNumber()

Description copied from interface: PneumaticsBase

Get module number for this module.

Specified by:

getModuleNumber in interface PneumaticsBase

Returns:

module number

fireOneShot

public void fireOneShot(int index)

Description copied from interface: PneumaticsBase

Fire a single solenoid shot.

Specified by:

fireOneShot in interface PneumaticsBase

Parameters:

index - solenoid index

setOneShotDuration

public void setOneShotDuration(int index, int durMs)

Description copied from interface: PneumaticsBase

Set the duration for a single solenoid shot.

Specified by:

setOneShotDuration in interface PneumaticsBase

Parameters:

index - solenoid index

durMs - shot duration

checkSolenoidChannel

public boolean checkSolenoidChannel(int channel)

Description copied from interface: PneumaticsBase

Check if a solenoid channel is valid.

Specified by:

checkSolenoidChannel in interface PneumaticsBase

Parameters:

channel - Channel to check

Returns:

True if channel exists

checkAndReserveSolenoids

public int checkAndReserveSolenoids(int mask)

Description copied from interface: PneumaticsBase

Check to see if the masked solenoids can be reserved, and if not reserve them.

Specified by:

checkAndReserveSolenoids in interface PneumaticsBase

Parameters:

mask - The bitmask of solenoids to reserve

Returns:

0 if successful; mask of solenoids that couldn't be allocated otherwise

unreserveSolenoids

public void unreserveSolenoids(int mask)

Description copied from interface: PneumaticsBase

Unreserve the masked solenoids.

Specified by:

unreserveSolenoids in interface PneumaticsBase

Parameters:

mask - The bitmask of solenoids to unreserve

makeSolenoid

public Solenoid makeSolenoid(int channel)

Specified by:

makeSolenoid in interface PneumaticsBase

makeDoubleSolenoid

public DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel)

Specified by:

makeDoubleSolenoid in interface PneumaticsBase

makeCompressor

public Compressor makeCompressor()

Specified by:

makeCompressor in interface PneumaticsBase

reserveCompressor

public boolean reserveCompressor()

Specified by:

reserveCompressor in interface PneumaticsBase

unreserveCompressor

public void unreserveCompressor()

Specified by:

unreserveCompressor in interface PneumaticsBase

getSolenoidDisabledList

public int getSolenoidDisabledList()

Description copied from interface: PneumaticsBase

Get a bitmask of disabled solenoids.

Specified by:

getSolenoidDisabledList in interface PneumaticsBase

Returns:

bitmask of disabled solenoids

disableCompressor

public void disableCompressor()

Disables the compressor. The compressor will not turn on until enableCompressorDigital(), enableCompressorAnalog(double, double), or enableCompressorHybrid(double, double) are called.

Specified by:

disableCompressor in interface PneumaticsBase

enableCompressorDigital

public void enableCompressorDigital()

Description copied from interface: PneumaticsBase

Enables the compressor in digital mode using the digital pressure switch. The compressor will turn on when the pressure switch indicates that the system is not full, and will turn off when the pressure switch indicates that the system is full.

Specified by:

enableCompressorDigital in interface PneumaticsBase

enableCompressorAnalog

public void enableCompressorAnalog(double minPressure, double maxPressure)

Enables the compressor in analog mode. This mode uses an analog pressure sensor connected to analog channel 0 to cycle the compressor. The compressor will turn on when the pressure drops below minPressure and will turn off when the pressure reaches maxPressure.

Specified by:

enableCompressorAnalog in interface PneumaticsBase

Parameters:

minPressure - The minimum pressure in PSI. The compressor will turn on when the pressure drops below this value. Range 0-120 PSI.

maxPressure - The maximum pressure in PSI. The compressor will turn off when the pressure reaches this value. Range 0-120 PSI. Must be larger then minPressure.

enableCompressorHybrid

public void enableCompressorHybrid(double minPressure, double maxPressure)

Enables the compressor in hybrid mode. This mode uses both a digital pressure switch and an analog pressure sensor connected to analog channel 0 to cycle the compressor.

The compressor will turn on when both:

• The digital pressure switch indicates the system is not full AND
• The analog pressure sensor indicates that the pressure in the system is below the specified minimum pressure.

The compressor will turn off when either:

• The digital pressure switch is disconnected or indicates that the system is full OR
• The pressure detected by the analog sensor is greater than the specified maximum pressure.

Specified by:

enableCompressorHybrid in interface PneumaticsBase

Parameters:

minPressure - The minimum pressure in PSI. The compressor will turn on when the pressure drops below this value and the pressure switch indicates that the system is not full. Range 0-120 PSI.

maxPressure - The maximum pressure in PSI. The compressor will turn off when the pressure reaches this value or the pressure switch is disconnected or indicates that the system is full. Range 0-120 PSI. Must be larger then minPressure.

getAnalogVoltage

public double getAnalogVoltage(int channel)

Returns the raw voltage of the specified analog input channel.

Specified by:

getAnalogVoltage in interface PneumaticsBase

Parameters:

channel - The analog input channel to read voltage from.

Returns:

The voltage of the specified analog input channel.

getPressure

public double getPressure(int channel)

Returns the pressure read by an analog pressure sensor on the specified analog input channel.

Specified by:

getPressure in interface PneumaticsBase

Parameters:

channel - The analog input channel to read pressure from.

Returns:

The pressure read by an analog pressure sensor on the specified analog input channel.

clearStickyFaults

public void clearStickyFaults()

Clears the sticky faults.

getVersion

public REVPHVersion getVersion()

Returns the hardware and firmware versions of this device.

Returns:

The hardware and firmware versions.

getFaults

public REVPHFaults getFaults()

Returns the faults currently active on this device.

Returns:

The faults.

getStickyFaults

public REVPHStickyFaults getStickyFaults()

Returns the sticky faults currently active on this device.

Returns:

The sticky faults.

getInputVoltage

public double getInputVoltage()

Returns the current input voltage for this device.

Returns:

The input voltage.

get5VRegulatedVoltage

public double get5VRegulatedVoltage()

Returns the current voltage of the regulated 5v supply.

Returns:

The current voltage of the 5v supply.

getSolenoidsTotalCurrent

public double getSolenoidsTotalCurrent()

Returns the total current (in amps) drawn by all solenoids.

Returns:

Total current drawn by all solenoids in amps.

getSolenoidsVoltage

public double getSolenoidsVoltage()

Returns the current voltage of the solenoid power supply.

Returns:

The current voltage of the solenoid power supply.