Package edu.wpi.first.wpilibj

Class PneumaticHub

java.lang.Object
edu.wpi.first.wpilibj.PneumaticHub
All Implemented Interfaces:
PneumaticsBase, AutoCloseable
public class PneumaticHub extends Object implements PneumaticsBase
Module class for controlling a REV Robotics Pneumatic Hub.

  • Constructor Details

    • PneumaticHub

      public PneumaticHub()
      Constructs a PneumaticHub with the default ID (1).

    • PneumaticHub

      public PneumaticHub(int module)
      Constructs a PneumaticHub.
      Parameters:
      module - module number to construct

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable
      Specified by:
      close in interface PneumaticsBase

    • getCompressor

      public boolean getCompressor()
      Description copied from interface: PneumaticsBase
      Returns whether the compressor is active or not.
      Specified by:
      getCompressor in interface PneumaticsBase
      Returns:
      True if the compressor is on - otherwise false.

    • getCompressorConfigType

      public CompressorConfigType getCompressorConfigType()
      Description copied from interface: PneumaticsBase
      Returns the active compressor configuration.
      Specified by:
      getCompressorConfigType in interface PneumaticsBase
      Returns:
      The active compressor configuration.

    • getPressureSwitch

      public boolean getPressureSwitch()
      Description copied from interface: PneumaticsBase
      Returns the state of the pressure switch.
      Specified by:
      getPressureSwitch in interface PneumaticsBase
      Returns:
      True if pressure switch indicates that the system is not full, otherwise false.

    • getCompressorCurrent

      public double getCompressorCurrent()
      Description copied from interface: PneumaticsBase
      Returns the current drawn by the compressor in amps.
      Specified by:
      getCompressorCurrent in interface PneumaticsBase
      Returns:
      The current drawn by the compressor.

    • setSolenoids

      public void setSolenoids(int mask, int values)
      Description copied from interface: PneumaticsBase
      Sets solenoids on a pneumatics module.
      Specified by:
      setSolenoids in interface PneumaticsBase
      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.

    • getSolenoids

      public int getSolenoids()
      Description copied from interface: PneumaticsBase
      Gets a bitmask of solenoid values.
      Specified by:
      getSolenoids in interface PneumaticsBase
      Returns:
      Bitmask containing the state of the solenoids. The LSB represents solenoid 0.

    • getModuleNumber

      public int getModuleNumber()
      Description copied from interface: PneumaticsBase
      Get module number for this module.
      Specified by:
      getModuleNumber in interface PneumaticsBase
      Returns:
      module number

    • fireOneShot

      public void fireOneShot(int index)
      Description copied from interface: PneumaticsBase
      Fire a single solenoid shot.
      Specified by:
      fireOneShot in interface PneumaticsBase
      Parameters:
      index - solenoid index

    • setOneShotDuration

      public void setOneShotDuration(int index, int durMs)
      Description copied from interface: PneumaticsBase
      Set the duration for a single solenoid shot.
      Specified by:
      setOneShotDuration in interface PneumaticsBase
      Parameters:
      index - solenoid index
      durMs - shot duration

    • checkSolenoidChannel

      public boolean checkSolenoidChannel(int channel)
      Description copied from interface: PneumaticsBase
      Check if a solenoid channel is valid.
      Specified by:
      checkSolenoidChannel in interface PneumaticsBase
      Parameters:
      channel - Channel to check
      Returns:
      True if channel exists

    • checkAndReserveSolenoids

      public int checkAndReserveSolenoids(int mask)
      Description copied from interface: PneumaticsBase
      Check to see if the solenoids marked in the bitmask can be reserved, and if so, reserve them.
      Specified by:
      checkAndReserveSolenoids in interface PneumaticsBase
      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

    • unreserveSolenoids

      public void unreserveSolenoids(int mask)
      Description copied from interface: PneumaticsBase
      Unreserve the solenoids marked in the bitmask.
      Specified by:
      unreserveSolenoids in interface PneumaticsBase
      Parameters:
      mask - The bitmask of solenoids to unreserve. The LSB represents solenoid 0.

    • makeSolenoid

      public Solenoid makeSolenoid(int channel)
      Description copied from interface: PneumaticsBase
      Create a solenoid object for the specified channel.
      Specified by:
      makeSolenoid in interface PneumaticsBase
      Parameters:
      channel - solenoid channel
      Returns:
      Solenoid object

    • makeDoubleSolenoid

      public DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel)
      Description copied from interface: PneumaticsBase
      Create a double solenoid object for the specified channels.
      Specified by:
      makeDoubleSolenoid in interface PneumaticsBase
      Parameters:
      forwardChannel - solenoid channel for forward
      reverseChannel - solenoid channel for reverse
      Returns:
      DoubleSolenoid object

    • makeCompressor

      public Compressor makeCompressor()
      Description copied from interface: PneumaticsBase
      Create a compressor object.
      Specified by:
      makeCompressor in interface PneumaticsBase
      Returns:
      Compressor object

    • reserveCompressor

      public boolean reserveCompressor()
      Description copied from interface: PneumaticsBase
      Reserve the compressor.
      Specified by:
      reserveCompressor in interface PneumaticsBase
      Returns:
      true if successful; false if compressor already reserved

    • unreserveCompressor

      public void unreserveCompressor()
      Description copied from interface: PneumaticsBase
      Unreserve the compressor.
      Specified by:
      unreserveCompressor in interface PneumaticsBase

    • getSolenoidDisabledList

      public int getSolenoidDisabledList()
      Description copied from interface: PneumaticsBase
      Get a bitmask of disabled solenoids.
      Specified by:
      getSolenoidDisabledList in interface PneumaticsBase
      Returns:
      Bitmask indicating disabled solenoids. The LSB represents solenoid 0.

    • disableCompressor

      public void disableCompressor()
      Disables the compressor. The compressor will not turn on until enableCompressorDigital(), enableCompressorAnalog(double, double), or enableCompressorHybrid(double, double) are called.
      Specified by:
      disableCompressor in interface PneumaticsBase

    • enableCompressorDigital

      public void enableCompressorDigital()
      Description copied from interface: PneumaticsBase
      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.
      Specified by:
      enableCompressorDigital in interface PneumaticsBase

    • enableCompressorAnalog

      public void enableCompressorAnalog(double minPressure, double maxPressure)
      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.
      Specified by:
      enableCompressorAnalog in interface PneumaticsBase
      Parameters:
      minPressure - The minimum pressure in PSI. The compressor will turn on when the pressure drops below this value. Range 0-120 PSI.
      maxPressure - The maximum pressure in PSI. The compressor will turn off when the pressure reaches this value. Range 0-120 PSI. Must be larger then minPressure.

    • enableCompressorHybrid

      public void enableCompressorHybrid(double minPressure, double maxPressure)
      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.
      Specified by:
      enableCompressorHybrid in interface PneumaticsBase
      Parameters:
      minPressure - The minimum pressure in PSI. 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 in PSI. 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.

    • getAnalogVoltage

      public double getAnalogVoltage(int channel)
      Returns the raw voltage of the specified analog input channel.
      Specified by:
      getAnalogVoltage in interface PneumaticsBase
      Parameters:
      channel - The analog input channel to read voltage from.
      Returns:
      The voltage of the specified analog input channel.

    • getPressure

      public double getPressure(int channel)
      Returns the pressure read by an analog pressure sensor on the specified analog input channel.
      Specified by:
      getPressure in interface PneumaticsBase
      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.

    • clearStickyFaults

      public void clearStickyFaults()
      Clears the sticky faults.

    • getVersion

      public REVPHVersion getVersion()
      Returns the hardware and firmware versions of this device.
      Returns:
      The hardware and firmware versions.

    • getFaults

      public REVPHFaults getFaults()
      Returns the faults currently active on this device.
      Returns:
      The faults.

    • getStickyFaults

      public REVPHStickyFaults getStickyFaults()
      Returns the sticky faults currently active on this device.
      Returns:
      The sticky faults.

    • getInputVoltage

      public double getInputVoltage()
      Returns the current input voltage for this device.
      Returns:
      The input voltage.

    • get5VRegulatedVoltage

      public double get5VRegulatedVoltage()
      Returns the current voltage of the regulated 5v supply.
      Returns:
      The current voltage of the 5v supply.

    • getSolenoidsTotalCurrent

      public double getSolenoidsTotalCurrent()
      Returns the total current (in amps) drawn by all solenoids.
      Returns:
      Total current drawn by all solenoids in amps.

    • getSolenoidsVoltage

      public double getSolenoidsVoltage()
      Returns the current voltage of the solenoid power supply.
      Returns:
      The current voltage of the solenoid power supply.