frc::Compressor Class Reference

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

#include <frc/Compressor.h>

Inheritance diagram for frc::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
Compressor &	operator= (const Compressor &)=delete
	Compressor (Compressor &&)=default
Compressor &	operator= (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)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (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

module	The module ID to use.
moduleType	The module type to use.

Compressor() [2/4]

frc::Compressor::Compressor ( PneumaticsModuleType  moduleType )

explicit

Constructs a compressor for a default module and specified type.

Parameters

moduleType

The 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

minPressure	The minimum pressure. The compressor will turn on when the pressure drops below this value.
maxPressure	The 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

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.
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.

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

builder

sendable 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:

• frc/Compressor.h