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

#include <frc/PneumaticHub.h>

Inheritance diagram for frc::PneumaticHub:

Classes
struct	Faults
	Faults for a REV PH. More...

struct	StickyFaults
	Sticky faults for a REV PH. More...

struct	Version
	Version and device data received from a REV PH. More...

Public Member Functions
	PneumaticHub ()
	Constructs a PneumaticHub with the default ID (1).

	PneumaticHub (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 (units::pounds_per_square_inch_t minPressure, units::pounds_per_square_inch_t maxPressure) override
	Enables the compressor in analog mode.

void	EnableCompressorHybrid (units::pounds_per_square_inch_t minPressure, 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.

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, 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.

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.

units::volt_t	GetInputVoltage () const
	Returns the current input voltage for this device.

units::volt_t	Get5VRegulatedVoltage () const
	Returns the current voltage of the regulated 5v supply.

units::ampere_t	GetSolenoidsTotalCurrent () const
	Returns the total current drawn by all solenoids.

units::volt_t	GetSolenoidsVoltage () const
	Returns the current voltage of the solenoid power supply.

units::volt_t	GetAnalogVoltage (int channel) const override
	Returns the raw voltage of the specified analog input channel.

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 frc::PneumaticsBase
virtual	~PneumaticsBase ()=default

Friends
class	DataStore

class	PneumaticsBase

Additional Inherited Members
Static Public Member Functions inherited from frc::PneumaticsBase
static std::shared_ptr< PneumaticsBase >	GetForType (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]

frc::PneumaticHub::PneumaticHub ( )

Constructs a PneumaticHub with the default ID (1).

◆ PneumaticHub() [2/2]

frc::PneumaticHub::PneumaticHub ( int module )

explicit

Constructs a PneumaticHub.

Parameters

module module number to construct

◆ ~PneumaticHub()

frc::PneumaticHub::~PneumaticHub ( )

overridedefault

Member Function Documentation

◆ CheckAndReserveSolenoids()

int frc::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 frc::PneumaticsBase.

◆ CheckSolenoidChannel()

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

overridevirtual

Check if a solenoid channel is valid.

Parameters

channel Channel to check

Returns: True if channel exists

Implements frc::PneumaticsBase.

◆ ClearStickyFaults()

void frc::PneumaticHub::ClearStickyFaults ( )

Clears the sticky faults.

◆ DisableCompressor()

void frc::PneumaticHub::DisableCompressor ( )

overridevirtual

Disables the compressor.

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

Implements frc::PneumaticsBase.

◆ EnableCompressorAnalog()

void frc::PneumaticHub::EnableCompressorAnalog	(	units::pounds_per_square_inch_t	minPressure,
		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 frc::PneumaticsBase.

◆ EnableCompressorDigital()

void frc::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 frc::PneumaticsBase.

◆ EnableCompressorHybrid()

void frc::PneumaticHub::EnableCompressorHybrid	(	units::pounds_per_square_inch_t	minPressure,
		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 frc::PneumaticsBase.

◆ FireOneShot()

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

overridevirtual

Fire a single solenoid shot.

Parameters

index solenoid index

Implements frc::PneumaticsBase.

◆ Get5VRegulatedVoltage()

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

Returns the current voltage of the regulated 5v supply.

Returns: The current voltage of the 5v supply.

◆ GetAnalogVoltage()

units::volt_t frc::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 frc::PneumaticsBase.

◆ GetCompressor()

bool frc::PneumaticHub::GetCompressor ( ) const

overridevirtual

Returns whether the compressor is active or not.

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

Implements frc::PneumaticsBase.

◆ GetCompressorConfigType()

CompressorConfigType frc::PneumaticHub::GetCompressorConfigType ( ) const

overridevirtual

Returns the active compressor configuration.

Returns: The active compressor configuration.

Implements frc::PneumaticsBase.

◆ GetCompressorCurrent()

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

overridevirtual

Returns the current drawn by the compressor.

Returns: The current drawn by the compressor.

Implements frc::PneumaticsBase.

◆ GetFaults()

Faults frc::PneumaticHub::GetFaults ( ) const

Returns the faults currently active on this device.

Returns: The faults.

◆ GetInputVoltage()

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

Returns the current input voltage for this device.

Returns: The input voltage.

◆ GetModuleNumber()

int frc::PneumaticHub::GetModuleNumber ( ) const

overridevirtual

Get module number for this module.

Returns: module number

Implements frc::PneumaticsBase.

◆ GetPressure()

units::pounds_per_square_inch_t frc::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 frc::PneumaticsBase.

◆ GetPressureSwitch()

bool frc::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 frc::PneumaticsBase.

◆ GetSolenoidDisabledList()

int frc::PneumaticHub::GetSolenoidDisabledList ( ) const

overridevirtual

Get a bitmask of disabled solenoids.

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

Implements frc::PneumaticsBase.

◆ GetSolenoids()

int frc::PneumaticHub::GetSolenoids ( ) const

overridevirtual

Gets a bitmask of solenoid values.

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

Implements frc::PneumaticsBase.

◆ GetSolenoidsTotalCurrent()

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

Returns the total current drawn by all solenoids.

Returns: Total current drawn by all solenoids.

◆ GetSolenoidsVoltage()

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

Returns the current voltage of the solenoid power supply.

Returns: The current voltage of the solenoid power supply.

◆ GetStickyFaults()

StickyFaults frc::PneumaticHub::GetStickyFaults ( ) const

Returns the sticky faults currently active on this device.

Returns: The sticky faults.

◆ GetVersion()

Version frc::PneumaticHub::GetVersion ( ) const

Returns the hardware and firmware versions of this device.

Returns: The hardware and firmware versions.

◆ MakeCompressor()

Compressor frc::PneumaticHub::MakeCompressor ( )

overridevirtual

Create a compressor object.

Returns: Compressor object

Implements frc::PneumaticsBase.

◆ MakeDoubleSolenoid()

DoubleSolenoid frc::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 frc::PneumaticsBase.

◆ MakeSolenoid()

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

overridevirtual

Create a solenoid object for the specified channel.

Parameters

channel solenoid channel

Returns: Solenoid object

Implements frc::PneumaticsBase.

◆ ReserveCompressor()

bool frc::PneumaticHub::ReserveCompressor ( )

overridevirtual

Reserve the compressor.

Returns: true if successful; false if compressor already reserved

Implements frc::PneumaticsBase.

◆ SetOneShotDuration()

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

overridevirtual

Set the duration for a single solenoid shot.

Parameters

index	solenoid index
duration	shot duration

Implements frc::PneumaticsBase.

◆ SetSolenoids()

void frc::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 frc::PneumaticsBase.

◆ UnreserveCompressor()

void frc::PneumaticHub::UnreserveCompressor ( )

overridevirtual

Unreserve the compressor.

Implements frc::PneumaticsBase.

◆ UnreserveSolenoids()

void frc::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 frc::PneumaticsBase.

Friends And Related Symbol Documentation

◆ DataStore

friend class DataStore

friend

◆ PneumaticsBase

friend class PneumaticsBase

friend

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

frc/PneumaticHub.h

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()

◆ ReserveCompressor()

◆ SetOneShotDuration()

◆ SetSolenoids()

◆ UnreserveCompressor()

◆ UnreserveSolenoids()

Friends And Related Symbol Documentation

◆ DataStore

◆ PneumaticsBase