WPILibC++ 2024.1.1-beta-4
frc::Compressor Class Reference

Class for operating a compressor connected to a pneumatics module. More...

#include <frc/Compressor.h>

Inheritance diagram for frc::Compressor:
wpi::Sendable wpi::SendableHelper< Compressor >

Public Member Functions

 Compressor (int module, PneumaticsModuleType moduleType)
 Constructs a compressor for a specified module and type. More...
 
 Compressor (PneumaticsModuleType moduleType)
 Constructs a compressor for a default module and specified type. More...
 
 ~Compressor () override
 
 Compressor (const Compressor &)=delete
 
Compressoroperator= (const Compressor &)=delete
 
 Compressor (Compressor &&)=default
 
Compressoroperator= (Compressor &&)=default
 
bool IsEnabled () const
 Returns whether the compressor is active or not. More...
 
bool GetPressureSwitchValue () const
 Returns the state of the pressure switch. More...
 
units::ampere_t GetCurrent () const
 Get the current drawn by the compressor. More...
 
units::volt_t GetAnalogVoltage () const
 If supported by the device, returns the analog input voltage (on channel 0). More...
 
units::pounds_per_square_inch_t GetPressure () const
 If supported by the device, returns the pressure read by the analog pressure sensor (on channel 0). More...
 
void Disable ()
 Disable the compressor. More...
 
void EnableDigital ()
 Enables the compressor in digital mode using the digital pressure switch. More...
 
void EnableAnalog (units::pounds_per_square_inch_t minPressure, units::pounds_per_square_inch_t maxPressure)
 If supported by the device, enables the compressor in analog mode. More...
 
void EnableHybrid (units::pounds_per_square_inch_t minPressure, units::pounds_per_square_inch_t maxPressure)
 If supported by the device, enables the compressor in hybrid mode. More...
 
CompressorConfigType GetConfigType () const
 Returns the active compressor configuration. More...
 
void InitSendable (wpi::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from wpi::Sendable
virtual ~Sendable ()=default
 
virtual void InitSendable (SendableBuilder &builder)=0
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from wpi::SendableHelper< Compressor >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 

Additional Inherited Members

- Protected Member Functions inherited from wpi::SendableHelper< Compressor >
 SendableHelper ()=default
 
 ~SendableHelper ()
 

Detailed Description

Class for operating a compressor connected to a pneumatics module.

The module 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

◆ Compressor() [1/4]

frc::Compressor::Compressor ( int  module,
PneumaticsModuleType  moduleType 
)

Constructs a compressor for a specified module and type.

Parameters
moduleThe module ID to use.
moduleTypeThe module type to use.

◆ Compressor() [2/4]

frc::Compressor::Compressor ( PneumaticsModuleType  moduleType)
explicit

Constructs a compressor for a default module and specified type.

Parameters
moduleTypeThe module type to use.

◆ ~Compressor()

frc::Compressor::~Compressor ( )
override

◆ Compressor() [3/4]

frc::Compressor::Compressor ( const Compressor )
delete

◆ Compressor() [4/4]

frc::Compressor::Compressor ( Compressor &&  )
default

Member Function Documentation

◆ Disable()

void frc::Compressor::Disable ( )

Disable the compressor.

◆ EnableAnalog()

void frc::Compressor::EnableAnalog ( units::pounds_per_square_inch_t  minPressure,
units::pounds_per_square_inch_t  maxPressure 
)

If supported by the device, 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
. This mode is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel 0.

On CTRE PCM, this will enable digital control.

Parameters
minPressureThe minimum pressure. The compressor will turn on when the pressure drops below this value.
maxPressureThe maximum pressure. The compressor will turn off when the pressure reaches this value.

◆ EnableDigital()

void frc::Compressor::EnableDigital ( )

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.

◆ EnableHybrid()

void frc::Compressor::EnableHybrid ( units::pounds_per_square_inch_t  minPressure,
units::pounds_per_square_inch_t  maxPressure 
)

If supported by the device, 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. This mode is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel 0.

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.

On CTRE PCM, this will enable digital control.

Parameters
minPressureThe 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.
maxPressureThe 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.

◆ GetAnalogVoltage()

units::volt_t frc::Compressor::GetAnalogVoltage ( ) const

If supported by the device, returns the analog input voltage (on channel 0).

This function is only supported by the REV PH. On CTRE PCM, this will return 0.

Returns
The analog input voltage, in volts.

◆ GetConfigType()

CompressorConfigType frc::Compressor::GetConfigType ( ) const

Returns the active compressor configuration.

Returns
The active compressor configuration.

◆ GetCurrent()

units::ampere_t frc::Compressor::GetCurrent ( ) const

Get the current drawn by the compressor.

Returns
Current drawn by the compressor.

◆ GetPressure()

units::pounds_per_square_inch_t frc::Compressor::GetPressure ( ) const

If supported by the device, returns the pressure read by the analog pressure sensor (on channel 0).

This function is only supported by the REV PH with the REV Analog Pressure Sensor. On CTRE PCM, this will return 0.

Returns
The pressure read by the analog pressure sensor.

◆ GetPressureSwitchValue()

bool frc::Compressor::GetPressureSwitchValue ( ) const

Returns the state of the pressure switch.

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

◆ InitSendable()

void frc::Compressor::InitSendable ( wpi::SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements wpi::Sendable.

◆ IsEnabled()

bool frc::Compressor::IsEnabled ( ) const

Returns whether the compressor is active or not.

Returns
true if the compressor is on - otherwise false.

◆ operator=() [1/2]

Compressor & frc::Compressor::operator= ( Compressor &&  )
default

◆ operator=() [2/2]

Compressor & frc::Compressor::operator= ( const Compressor )
delete

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