Package edu.wpi.first.hal

Class CTREPCMJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.CTREPCMJNI
public class CTREPCMJNI
extends JNIWrapper
CTRE Pneumatic Control Module (PCM) Functions.
See Also:
"CTREPCM.h"

  • Method Details

    • initialize

      public static int initialize​(int module)
      Initializes a PCM.
      Parameters:
      module - the CAN ID to initialize
      Returns:
      the created PH handle
      See Also:
      "HAL_InitializeCTREPCM"

    • free

      public static void free​(int handle)
      Frees a PCM handle.
      Parameters:
      handle - the PCMhandle
      See Also:
      "HAL_FreeCTREPCM"

    • checkSolenoidChannel

      public static boolean checkSolenoidChannel​(int channel)
      Checks if a solenoid channel number is valid.
      Parameters:
      channel - the channel to check
      Returns:
      true if the channel is valid, otherwise false

    • getCompressor

      public static boolean getCompressor​(int handle)
      Get whether compressor is turned on.
      Parameters:
      handle - the PCM handle
      Returns:
      true if the compressor is turned on
      See Also:
      "HAL_GetCTREPCMCompressor"

    • setClosedLoopControl

      public static void setClosedLoopControl​(int handle, boolean enabled)
      Enables the compressor closed loop control 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.
      Parameters:
      handle - the PCM handle
      enabled - true to enable closed loop control
      See Also:
      "HAL_SetCTREPCMClosedLoopControl"

    • getClosedLoopControl

      public static boolean getClosedLoopControl​(int handle)
      Get whether the PCM closed loop control is enabled.
      Parameters:
      handle - the PCM handle
      Returns:
      True if closed loop control is enabled, otherwise false.

    • getPressureSwitch

      public static boolean getPressureSwitch​(int handle)
      Returns the state of the pressure switch.
      Parameters:
      handle - the PCM handle
      Returns:
      True if pressure switch indicates that the system is full, otherwise false.
      See Also:
      "HAL_GetCTREPCMPressureSwitch"

    • getCompressorCurrent

      public static double getCompressorCurrent​(int handle)
      Returns the current drawn by the compressor.
      Parameters:
      handle - the PCM handle
      Returns:
      The current drawn by the compressor in amps.
      See Also:
      "HAL_GetCTREPCMCompressorCurrent"

    • getCompressorCurrentTooHighFault

      public static boolean getCompressorCurrentTooHighFault​(int handle)
      Return whether the compressor current is currently too high.
      Parameters:
      handle - the PCM handle
      Returns:
      True if the compressor current is too high, otherwise false.
      See Also:
      getCompressorCurrentTooHighStickyFault(int), "HAL_GetCTREPCMCompressorCurrentTooHighFault"

    • getCompressorCurrentTooHighStickyFault

      public static boolean getCompressorCurrentTooHighStickyFault​(int handle)
      Returns whether the compressor current has been too high since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()
      Parameters:
      handle - the PCM handle
      Returns:
      True if the compressor current has been too high since sticky faults were last cleared.
      See Also:
      getCompressorCurrentTooHighFault(int), "HAL_GetCTREPCMCompressorCurrentTooHighStickyFault("

    • getCompressorShortedFault

      public static boolean getCompressorShortedFault​(int handle)
      Returns whether the compressor is currently shorted.
      Parameters:
      handle - the PCM handle
      Returns:
      True if the compressor is currently shorted, otherwise false.
      See Also:
      getCompressorCurrentTooHighStickyFault(int), "HAL_GetCTREPCMCompressorShortedStickyFault"

    • getCompressorShortedStickyFault

      public static boolean getCompressorShortedStickyFault​(int handle)
      Returns whether the compressor has been shorted since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()
      Parameters:
      handle - the PCM handle
      Returns:
      True if the compressor has been shorted since sticky faults were last cleared, otherwise false.
      See Also:
      getCompressorShortedFault(int), "HAL_GetCTREPCMCompressorShortedFault"

    • getCompressorNotConnectedFault

      public static boolean getCompressorNotConnectedFault​(int handle)
      Returns whether the compressor is currently disconnected.
      Parameters:
      handle - the PCM handle
      Returns:
      True if compressor is currently disconnected, otherwise false.
      See Also:
      getCompressorShortedStickyFault(int), "HAL_GetCTREPCMCompressorNotConnectedFault"

    • getCompressorNotConnectedStickyFault

      public static boolean getCompressorNotConnectedStickyFault​(int handle)
      Returns whether the compressor has been disconnected since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()
      Parameters:
      handle - the PCM handle
      Returns:
      True if the compressor has been disconnected since sticky faults were last cleared, otherwise false.
      See Also:
      getCompressorNotConnectedFault(int), "HAL_GetCTREPCMCompressorNotConnectedStickyFault"

    • getSolenoids

      public static int getSolenoids​(int handle)
      Gets a bitmask of solenoid values.
      Parameters:
      handle - the PCM handle
      Returns:
      solenoid values
      See Also:
      "HAL_GetCTREPCMSolenoids"

    • setSolenoids

      public static void setSolenoids​(int handle, int mask, int values)
      Sets solenoids on a pneumatics module.
      Parameters:
      handle - the PCM handle
      mask - bitmask to set
      values - solenoid values
      See Also:
      "HAL_SetCTREPCMSolenoids"

    • getSolenoidDisabledList

      public static int getSolenoidDisabledList​(int handle)
      Get a bitmask of disabled solenoids.
      Parameters:
      handle - the PCM handle
      Returns:
      bitmask of disabled solenoids
      See Also:
      "HAL_GetCTREPCMSolenoidDisabledList"

    • getSolenoidVoltageFault

      public static boolean getSolenoidVoltageFault​(int handle)
      Returns whether the solenoid is currently reporting a voltage fault.
      Parameters:
      handle - the PCM handle
      Returns:
      True if solenoid is reporting a fault, otherwise false.
      See Also:
      getSolenoidVoltageStickyFault(int), "HAL_GetCTREPCMSolenoidVoltageFault"

    • getSolenoidVoltageStickyFault

      public static boolean getSolenoidVoltageStickyFault​(int handle)
      Returns whether the solenoid has reported a voltage fault since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()
      Parameters:
      handle - the PCM handle
      Returns:
      True if solenoid is reporting a fault, otherwise false.
      See Also:
      getSolenoidVoltageFault(int), "HAL_GetCTREPCMSolenoidVoltageStickyFault"

    • clearAllStickyFaults

      public static void clearAllStickyFaults​(int handle)
      Clears all sticky faults on this device.
      Parameters:
      handle - the PCM handle
      See Also:
      "HAL_ClearAllCTREPCMStickyFaults"

    • fireOneShot

      public static void fireOneShot​(int handle, int index)
      Fire a single solenoid shot.
      Parameters:
      handle - the PCM handle
      index - solenoid index
      See Also:
      "HAL_FireCTREPCMOneShot"

    • setOneShotDuration

      public static void setOneShotDuration​(int handle, int index, int durMs)
      Set the duration for a single solenoid shot.
      Parameters:
      handle - the PCM handle
      index - solenoid index
      durMs - shot duration in ms
      See Also:
      "HAL_SetCTREPCMOneShotDuration"