Module class for controlling a REV Robotics Pneumatic Hub. More...

#include <wpi/hardware/pneumatic/PneumaticHub.hpp>

Inheritance diagram for wpi::PneumaticHub:

Classes
struct	Version
	Version and device data received from a REV PH. More...
struct	Faults
	Faults for a REV PH. More...
struct	StickyFaults
	Sticky faults for a REV PH. More...

Public Member Functions
	PneumaticHub (int busId)
	Constructs a PneumaticHub with the default ID (1).
	PneumaticHub (int busId, int module)
	Constructs a PneumaticHub.
	~PneumaticHub () override=default
bool	GetCompressor () const override
	Returns whether the compressor is active or not.
void	DisableCompressor () override
	Disables the compressor.
void	EnableCompressorDigital () override
	Enables the compressor in digital mode using the digital pressure switch.
void	EnableCompressorAnalog (wpi::units::pounds_per_square_inch_t minPressure, wpi::units::pounds_per_square_inch_t maxPressure) override
	Enables the compressor in analog mode.
void	EnableCompressorHybrid (wpi::units::pounds_per_square_inch_t minPressure, wpi::units::pounds_per_square_inch_t maxPressure) override
	Enables the compressor in hybrid mode.
CompressorConfigType	GetCompressorConfigType () const override
	Returns the active compressor configuration.
bool	GetPressureSwitch () const override
	Returns the state of the pressure switch.
wpi::units::ampere_t	GetCompressorCurrent () const override
	Returns the current drawn by the compressor.
void	SetSolenoids (int mask, int values) override
	Sets solenoids on a pneumatics module.
int	GetSolenoids () const override
	Gets a bitmask of solenoid values.
int	GetModuleNumber () const override
	Get module number for this module.
int	GetSolenoidDisabledList () const override
	Get a bitmask of disabled solenoids.
void	FireOneShot (int index) override
	Fire a single solenoid shot.
void	SetOneShotDuration (int index, wpi::units::second_t duration) override
	Set the duration for a single solenoid shot.
bool	CheckSolenoidChannel (int channel) const override
	Check if a solenoid channel is valid.
int	CheckAndReserveSolenoids (int mask) override
	Check to see if the solenoids marked in the bitmask can be reserved, and if so, reserve them.
void	UnreserveSolenoids (int mask) override
	Unreserve the solenoids marked in the bitmask.
bool	ReserveCompressor () override
	Reserve the compressor.
void	UnreserveCompressor () override
	Unreserve the compressor.
Solenoid	MakeSolenoid (int channel) override
	Create a solenoid object for the specified channel.
DoubleSolenoid	MakeDoubleSolenoid (int forwardChannel, int reverseChannel) override
	Create a double solenoid object for the specified channels.
Compressor	MakeCompressor () override
	Create a compressor object.
void	ReportUsage (std::string_view device, std::string_view data) override
	Report usage.
Version	GetVersion () const
	Returns the hardware and firmware versions of this device.
Faults	GetFaults () const
	Returns the faults currently active on this device.
StickyFaults	GetStickyFaults () const
	Returns the sticky faults currently active on this device.
void	ClearStickyFaults ()
	Clears the sticky faults.
wpi::units::volt_t	GetInputVoltage () const
	Returns the current input voltage for this device.
wpi::units::volt_t	Get5VRegulatedVoltage () const
	Returns the current voltage of the regulated 5v supply.
wpi::units::ampere_t	GetSolenoidsTotalCurrent () const
	Returns the total current drawn by all solenoids.
wpi::units::volt_t	GetSolenoidsVoltage () const
	Returns the current voltage of the solenoid power supply.
wpi::units::volt_t	GetAnalogVoltage (int channel) const override
	Returns the raw voltage of the specified analog input channel.
wpi::units::pounds_per_square_inch_t	GetPressure (int channel) const override
	Returns the pressure read by an analog pressure sensor on the specified analog input channel.
Public Member Functions inherited from wpi::PneumaticsBase
virtual	~PneumaticsBase ()=default

Friends
class	DataStore
class	PneumaticsBase

Additional Inherited Members
Static Public Member Functions inherited from wpi::PneumaticsBase
static std::shared_ptr< PneumaticsBase >	GetForType (int busId, int module, PneumaticsModuleType moduleType)
	For internal use to get a module for a specific type.
static int	GetDefaultForType (PneumaticsModuleType moduleType)
	For internal use to get the default for a specific type.

Detailed Description

Module class for controlling a REV Robotics Pneumatic Hub.

Constructor & Destructor Documentation

◆ PneumaticHub() [1/2]

wpi::PneumaticHub::PneumaticHub ( int busId )

explicit

Constructs a PneumaticHub with the default ID (1).

Parameters

busId The bus ID.

◆ PneumaticHub() [2/2]

wpi::PneumaticHub::PneumaticHub	(	int	busId,
		int	module )

Constructs a PneumaticHub.

Parameters

busId	The bus ID.
module	module number to construct

◆ ~PneumaticHub()

wpi::PneumaticHub::~PneumaticHub ( )

overridedefault

Member Function Documentation

◆ CheckAndReserveSolenoids()

int wpi::PneumaticHub::CheckAndReserveSolenoids ( int mask )

overridevirtual

Check to see if the solenoids marked in the bitmask can be reserved, and if so, reserve them.

Parameters

mask	The bitmask of solenoids to reserve. The LSB represents solenoid 0.

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

Implements wpi::PneumaticsBase.

◆ CheckSolenoidChannel()

bool wpi::PneumaticHub::CheckSolenoidChannel ( int channel ) const

overridevirtual

Check if a solenoid channel is valid.

Parameters

channel Channel to check

Returns: True if channel exists

Implements wpi::PneumaticsBase.

◆ ClearStickyFaults()

void wpi::PneumaticHub::ClearStickyFaults ( )

Clears the sticky faults.

◆ DisableCompressor()

void wpi::PneumaticHub::DisableCompressor ( )

overridevirtual

Disables the compressor.

The compressor will not turn on until EnableCompressorDigital(), EnableCompressorAnalog(), or EnableCompressorHybrid() are called.

Implements wpi::PneumaticsBase.

◆ EnableCompressorAnalog()

void wpi::PneumaticHub::EnableCompressorAnalog	(	wpi::units::pounds_per_square_inch_t	minPressure,
		wpi::units::pounds_per_square_inch_t	maxPressure )

overridevirtual

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.

Parameters

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

Implements wpi::PneumaticsBase.

◆ EnableCompressorDigital()

void wpi::PneumaticHub::EnableCompressorDigital ( )

overridevirtual

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.

Implements wpi::PneumaticsBase.

◆ EnableCompressorHybrid()

void wpi::PneumaticHub::EnableCompressorHybrid	(	wpi::units::pounds_per_square_inch_t	minPressure,
		wpi::units::pounds_per_square_inch_t	maxPressure )

overridevirtual

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.

Parameters

minPressure	The minimum pressure. 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. 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.

Implements wpi::PneumaticsBase.

◆ FireOneShot()

void wpi::PneumaticHub::FireOneShot ( int index )

overridevirtual

Fire a single solenoid shot.

Parameters

index solenoid index

Implements wpi::PneumaticsBase.

◆ Get5VRegulatedVoltage()

wpi::units::volt_t wpi::PneumaticHub::Get5VRegulatedVoltage ( ) const

Returns the current voltage of the regulated 5v supply.

Returns: The current voltage of the 5v supply.

◆ GetAnalogVoltage()

wpi::units::volt_t wpi::PneumaticHub::GetAnalogVoltage ( int channel ) const

overridevirtual

Returns the raw voltage of the specified analog input channel.

Parameters

channel The analog input channel to read voltage from.

Returns: The voltage of the specified analog input channel.

Implements wpi::PneumaticsBase.

◆ GetCompressor()

bool wpi::PneumaticHub::GetCompressor ( ) const

overridevirtual

Returns whether the compressor is active or not.

Returns: True if the compressor is on - otherwise false.

Implements wpi::PneumaticsBase.

◆ GetCompressorConfigType()

CompressorConfigType wpi::PneumaticHub::GetCompressorConfigType ( ) const

overridevirtual

Returns the active compressor configuration.

Returns: The active compressor configuration.

Implements wpi::PneumaticsBase.

◆ GetCompressorCurrent()

wpi::units::ampere_t wpi::PneumaticHub::GetCompressorCurrent ( ) const

overridevirtual

Returns the current drawn by the compressor.

Returns: The current drawn by the compressor.

Implements wpi::PneumaticsBase.

◆ GetFaults()

Faults wpi::PneumaticHub::GetFaults ( ) const

Returns the faults currently active on this device.

Returns: The faults.

◆ GetInputVoltage()

wpi::units::volt_t wpi::PneumaticHub::GetInputVoltage ( ) const

Returns the current input voltage for this device.

Returns: The input voltage.

◆ GetModuleNumber()

int wpi::PneumaticHub::GetModuleNumber ( ) const

overridevirtual

Get module number for this module.

Returns: module number

Implements wpi::PneumaticsBase.

◆ GetPressure()

wpi::units::pounds_per_square_inch_t wpi::PneumaticHub::GetPressure ( int channel ) const

overridevirtual

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

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.

Implements wpi::PneumaticsBase.

◆ GetPressureSwitch()

bool wpi::PneumaticHub::GetPressureSwitch ( ) const

overridevirtual

Returns the state of the pressure switch.

Returns: True if pressure switch indicates that the system is full, otherwise false.

Implements wpi::PneumaticsBase.

◆ GetSolenoidDisabledList()

int wpi::PneumaticHub::GetSolenoidDisabledList ( ) const

overridevirtual

Get a bitmask of disabled solenoids.

Returns: Bitmask indicating disabled solenoids. The LSB represents solenoid 0.

Implements wpi::PneumaticsBase.

◆ GetSolenoids()

int wpi::PneumaticHub::GetSolenoids ( ) const

overridevirtual

Gets a bitmask of solenoid values.

Returns: Bitmask containing the state of the solenoids. The LSB represents solenoid 0.

Implements wpi::PneumaticsBase.

◆ GetSolenoidsTotalCurrent()

wpi::units::ampere_t wpi::PneumaticHub::GetSolenoidsTotalCurrent ( ) const

Returns the total current drawn by all solenoids.

Returns: Total current drawn by all solenoids.

◆ GetSolenoidsVoltage()

wpi::units::volt_t wpi::PneumaticHub::GetSolenoidsVoltage ( ) const

Returns the current voltage of the solenoid power supply.

Returns: The current voltage of the solenoid power supply.

◆ GetStickyFaults()

StickyFaults wpi::PneumaticHub::GetStickyFaults ( ) const

Returns the sticky faults currently active on this device.

Returns: The sticky faults.

◆ GetVersion()

Version wpi::PneumaticHub::GetVersion ( ) const

Returns the hardware and firmware versions of this device.

Returns: The hardware and firmware versions.

◆ MakeCompressor()

Compressor wpi::PneumaticHub::MakeCompressor ( )

overridevirtual

Create a compressor object.

Returns: Compressor object

Implements wpi::PneumaticsBase.

◆ MakeDoubleSolenoid()

DoubleSolenoid wpi::PneumaticHub::MakeDoubleSolenoid	(	int	forwardChannel,
		int	reverseChannel )

overridevirtual

Create a double solenoid object for the specified channels.

Parameters

forwardChannel	solenoid channel for forward
reverseChannel	solenoid channel for reverse

Returns: DoubleSolenoid object

Implements wpi::PneumaticsBase.

◆ MakeSolenoid()

Solenoid wpi::PneumaticHub::MakeSolenoid ( int channel )

overridevirtual

Create a solenoid object for the specified channel.

Parameters

channel solenoid channel

Returns: Solenoid object

Implements wpi::PneumaticsBase.

◆ ReportUsage()

void wpi::PneumaticHub::ReportUsage	(	std::string_view	device,
		std::string_view	data )

overridevirtual

Report usage.

Parameters

device	device and channel as appropriate
data	arbitrary usage data

Implements wpi::PneumaticsBase.

◆ ReserveCompressor()

bool wpi::PneumaticHub::ReserveCompressor ( )

overridevirtual

Reserve the compressor.

Returns: true if successful; false if compressor already reserved

Implements wpi::PneumaticsBase.

◆ SetOneShotDuration()

void wpi::PneumaticHub::SetOneShotDuration	(	int	index,
		wpi::units::second_t	duration )

overridevirtual

Set the duration for a single solenoid shot.

Parameters

index	solenoid index
duration	shot duration

Implements wpi::PneumaticsBase.

◆ SetSolenoids()

void wpi::PneumaticHub::SetSolenoids	(	int	mask,
		int	values )

overridevirtual

Sets solenoids on a pneumatics module.

Parameters

mask	Bitmask indicating which solenoids to set. The LSB represents solenoid 0.
values	Bitmask indicating the desired states of the solenoids. The LSB represents solenoid 0.

Implements wpi::PneumaticsBase.

◆ UnreserveCompressor()

void wpi::PneumaticHub::UnreserveCompressor ( )

overridevirtual

Unreserve the compressor.

Implements wpi::PneumaticsBase.

◆ UnreserveSolenoids()

void wpi::PneumaticHub::UnreserveSolenoids ( int mask )

overridevirtual

Unreserve the solenoids marked in the bitmask.

Parameters

mask	The bitmask of solenoids to unreserve. The LSB represents solenoid 0.

Implements wpi::PneumaticsBase.

◆ DataStore

friend class DataStore

friend

◆ PneumaticsBase

friend class PneumaticsBase

friend

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

wpi/hardware/pneumatic/PneumaticHub.hpp

Classes

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PneumaticHub() [1/2]

◆ PneumaticHub() [2/2]

◆ ~PneumaticHub()

Member Function Documentation

◆ CheckAndReserveSolenoids()

◆ CheckSolenoidChannel()

◆ ClearStickyFaults()

◆ DisableCompressor()

◆ EnableCompressorAnalog()

◆ EnableCompressorDigital()

◆ EnableCompressorHybrid()

◆ FireOneShot()

◆ Get5VRegulatedVoltage()

◆ GetAnalogVoltage()

◆ GetCompressor()

◆ GetCompressorConfigType()

◆ GetCompressorCurrent()

◆ GetFaults()

◆ GetInputVoltage()

◆ GetModuleNumber()

◆ GetPressure()

◆ GetPressureSwitch()

◆ GetSolenoidDisabledList()

◆ GetSolenoids()

◆ GetSolenoidsTotalCurrent()

◆ GetSolenoidsVoltage()

◆ GetStickyFaults()

◆ GetVersion()

◆ MakeCompressor()

◆ MakeDoubleSolenoid()

◆ MakeSolenoid()

◆ ReportUsage()

◆ ReserveCompressor()

◆ SetOneShotDuration()

◆ SetSolenoids()

◆ UnreserveCompressor()

◆ UnreserveSolenoids()

Friends And Related Symbol Documentation

◆ DataStore

◆ PneumaticsBase