Base class for pneumatics devices. More...

#include <frc/PneumaticsBase.h>

Inheritance diagram for frc::PneumaticsBase:

Public Member Functions
virtual	~PneumaticsBase ()=default

virtual bool	GetCompressor () const =0
	Returns whether the compressor is active or not.

virtual bool	GetPressureSwitch () const =0
	Returns the state of the pressure switch.

virtual units::ampere_t	GetCompressorCurrent () const =0
	Returns the current drawn by the compressor.

virtual void	DisableCompressor ()=0
	Disables the compressor.

virtual void	EnableCompressorDigital ()=0
	Enables the compressor in digital mode using the digital pressure switch.

virtual void	EnableCompressorAnalog (units::pounds_per_square_inch_t minPressure, units::pounds_per_square_inch_t maxPressure)=0
	If supported by the device, enables the compressor in analog mode.

virtual void	EnableCompressorHybrid (units::pounds_per_square_inch_t minPressure, units::pounds_per_square_inch_t maxPressure)=0
	If supported by the device, enables the compressor in hybrid mode.

virtual CompressorConfigType	GetCompressorConfigType () const =0
	Returns the active compressor configuration.

virtual void	SetSolenoids (int mask, int values)=0
	Sets solenoids on a pneumatics module.

virtual int	GetSolenoids () const =0
	Gets a bitmask of solenoid values.

virtual int	GetModuleNumber () const =0
	Get module number for this module.

virtual int	GetSolenoidDisabledList () const =0
	Get a bitmask of disabled solenoids.

virtual void	FireOneShot (int index)=0
	Fire a single solenoid shot.

virtual void	SetOneShotDuration (int index, units::second_t duration)=0
	Set the duration for a single solenoid shot.

virtual bool	CheckSolenoidChannel (int channel) const =0
	Check if a solenoid channel is valid.

virtual int	CheckAndReserveSolenoids (int mask)=0
	Check to see if the solenoids marked in the bitmask can be reserved, and if so, reserve them.

virtual void	UnreserveSolenoids (int mask)=0
	Unreserve the solenoids marked in the bitmask.

virtual bool	ReserveCompressor ()=0
	Reserve the compressor.

virtual void	UnreserveCompressor ()=0
	Unreserve the compressor.

virtual units::volt_t	GetAnalogVoltage (int channel) const =0
	If supported by the device, returns the raw voltage of the specified analog input channel.

virtual units::pounds_per_square_inch_t	GetPressure (int channel) const =0
	If supported by the device, returns the pressure read by an analog pressure sensor on the specified analog input channel.

virtual Solenoid	MakeSolenoid (int channel)=0
	Create a solenoid object for the specified channel.

virtual DoubleSolenoid	MakeDoubleSolenoid (int forwardChannel, int reverseChannel)=0
	Create a double solenoid object for the specified channels.

virtual Compressor	MakeCompressor ()=0
	Create a compressor object.

Static Public Member Functions
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

Base class for pneumatics devices.

Constructor & Destructor Documentation

◆ ~PneumaticsBase()

virtual frc::PneumaticsBase::~PneumaticsBase ( )

virtualdefault

Member Function Documentation

◆ CheckAndReserveSolenoids()

virtual int frc::PneumaticsBase::CheckAndReserveSolenoids ( int mask )

pure virtual

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

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ CheckSolenoidChannel()

virtual bool frc::PneumaticsBase::CheckSolenoidChannel ( int channel ) const

pure virtual

Check if a solenoid channel is valid.

Parameters

channel Channel to check

Returns: True if channel exists

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ DisableCompressor()

virtual void frc::PneumaticsBase::DisableCompressor ( )

pure virtual

Disables the compressor.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ EnableCompressorAnalog()

virtual void frc::PneumaticsBase::EnableCompressorAnalog	(	units::pounds_per_square_inch_t	minPressure,
		units::pounds_per_square_inch_t	maxPressure )

pure virtual

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.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ EnableCompressorDigital()

virtual void frc::PneumaticsBase::EnableCompressorDigital ( )

pure virtual

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.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ EnableCompressorHybrid()

virtual void frc::PneumaticsBase::EnableCompressorHybrid	(	units::pounds_per_square_inch_t	minPressure,
		units::pounds_per_square_inch_t	maxPressure )

pure virtual

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.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ FireOneShot()

virtual void frc::PneumaticsBase::FireOneShot ( int index )

pure virtual

Fire a single solenoid shot.

Parameters

index solenoid index

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetAnalogVoltage()

virtual units::volt_t frc::PneumaticsBase::GetAnalogVoltage ( int channel ) const

pure virtual

If supported by the device, returns the raw voltage of the specified analog input channel.

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

Parameters

channel The analog input channel to read voltage from.

Returns: The voltage of the specified analog input channel.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetCompressor()

virtual bool frc::PneumaticsBase::GetCompressor ( ) const

pure virtual

Returns whether the compressor is active or not.

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

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetCompressorConfigType()

virtual CompressorConfigType frc::PneumaticsBase::GetCompressorConfigType ( ) const

pure virtual

Returns the active compressor configuration.

Returns: The active compressor configuration.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetCompressorCurrent()

virtual units::ampere_t frc::PneumaticsBase::GetCompressorCurrent ( ) const

pure virtual

Returns the current drawn by the compressor.

Returns: The current drawn by the compressor.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetDefaultForType()

static int frc::PneumaticsBase::GetDefaultForType ( PneumaticsModuleType moduleType )

static

For internal use to get the default for a specific type.

Parameters

moduleType module type

Returns: module default

◆ GetForType()

static std::shared_ptr< PneumaticsBase > frc::PneumaticsBase::GetForType	(	int	module,
		PneumaticsModuleType	moduleType )

static

For internal use to get a module for a specific type.

Parameters

module	module number
moduleType	module type

Returns: module

◆ GetModuleNumber()

virtual int frc::PneumaticsBase::GetModuleNumber ( ) const

pure virtual

Get module number for this module.

Returns: module number

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetPressure()

virtual units::pounds_per_square_inch_t frc::PneumaticsBase::GetPressure ( int channel ) const

pure virtual

If supported by the device, returns the pressure read by an analog pressure sensor on the specified analog input channel.

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

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.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetPressureSwitch()

virtual bool frc::PneumaticsBase::GetPressureSwitch ( ) const

pure virtual

Returns the state of the pressure switch.

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

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetSolenoidDisabledList()

virtual int frc::PneumaticsBase::GetSolenoidDisabledList ( ) const

pure virtual

Get a bitmask of disabled solenoids.

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

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ GetSolenoids()

virtual int frc::PneumaticsBase::GetSolenoids ( ) const

pure virtual

Gets a bitmask of solenoid values.

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

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ MakeCompressor()

virtual Compressor frc::PneumaticsBase::MakeCompressor ( )

pure virtual

Create a compressor object.

Returns: Compressor object

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ MakeDoubleSolenoid()

virtual DoubleSolenoid frc::PneumaticsBase::MakeDoubleSolenoid	(	int	forwardChannel,
		int	reverseChannel )

pure virtual

Create a double solenoid object for the specified channels.

Parameters

forwardChannel	solenoid channel for forward
reverseChannel	solenoid channel for reverse

Returns: DoubleSolenoid object

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ MakeSolenoid()

virtual Solenoid frc::PneumaticsBase::MakeSolenoid ( int channel )

pure virtual

Create a solenoid object for the specified channel.

Parameters

channel solenoid channel

Returns: Solenoid object

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ ReserveCompressor()

virtual bool frc::PneumaticsBase::ReserveCompressor ( )

pure virtual

Reserve the compressor.

Returns: true if successful; false if compressor already reserved

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ SetOneShotDuration()

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

pure virtual

Set the duration for a single solenoid shot.

Parameters

index	solenoid index
duration	shot duration

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ SetSolenoids()

virtual void frc::PneumaticsBase::SetSolenoids	(	int	mask,
		int	values )

pure virtual

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.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ UnreserveCompressor()

virtual void frc::PneumaticsBase::UnreserveCompressor ( )

pure virtual

Unreserve the compressor.

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

◆ UnreserveSolenoids()

virtual void frc::PneumaticsBase::UnreserveSolenoids ( int mask )

pure virtual

Unreserve the solenoids marked in the bitmask.

Parameters

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

Implemented in frc::PneumaticHub, and frc::PneumaticsControlModule.

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

frc/PneumaticsBase.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~PneumaticsBase()

Member Function Documentation

◆ CheckAndReserveSolenoids()

◆ CheckSolenoidChannel()

◆ DisableCompressor()

◆ EnableCompressorAnalog()

◆ EnableCompressorDigital()

◆ EnableCompressorHybrid()

◆ FireOneShot()

◆ GetAnalogVoltage()

◆ GetCompressor()

◆ GetCompressorConfigType()

◆ GetCompressorCurrent()

◆ GetDefaultForType()

◆ GetForType()

◆ GetModuleNumber()

◆ GetPressure()

◆ GetPressureSwitch()

◆ GetSolenoidDisabledList()

◆ GetSolenoids()

◆ MakeCompressor()

◆ MakeDoubleSolenoid()

◆ MakeSolenoid()

◆ ReserveCompressor()

◆ SetOneShotDuration()

◆ SetSolenoids()

◆ UnreserveCompressor()

◆ UnreserveSolenoids()