Package edu.wpi.first.wpilibj

Interface PneumaticsBase

All Superinterfaces:
AutoCloseable
All Known Implementing Classes:
PneumaticHub, PneumaticsControlModule
public interface PneumaticsBase extends AutoCloseable
Interface for pneumatics devices.

  • Method Details

    • getForType

      static PneumaticsBase getForType(int module, PneumaticsModuleType type)
      For internal use to get a module for a specific type.
      Parameters:
      module - module number
      type - module type
      Returns:
      module

    • getDefaultForType

      static int getDefaultForType(PneumaticsModuleType type)
      For internal use to get the default for a specific type.
      Parameters:
      type - module type
      Returns:
      module default

    • setSolenoids

      void setSolenoids(int mask, int values)
      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.

    • getSolenoids

      int getSolenoids()
      Gets a bitmask of solenoid values.
      Returns:
      Bitmask containing the state of the solenoids. The LSB represents solenoid 0.

    • getModuleNumber

      int getModuleNumber()
      Get module number for this module.
      Returns:
      module number

    • getSolenoidDisabledList

      int getSolenoidDisabledList()
      Get a bitmask of disabled solenoids.
      Returns:
      Bitmask indicating disabled solenoids. The LSB represents solenoid 0.

    • fireOneShot

      void fireOneShot(int index)
      Fire a single solenoid shot.
      Parameters:
      index - solenoid index

    • setOneShotDuration

      void setOneShotDuration(int index, int durMs)
      Set the duration for a single solenoid shot.
      Parameters:
      index - solenoid index
      durMs - shot duration

    • getCompressor

      boolean getCompressor()
      Returns whether the compressor is active or not.
      Returns:
      True if the compressor is on - otherwise false.

    • getPressureSwitch

      boolean getPressureSwitch()
      Returns the state of the pressure switch.
      Returns:
      True if pressure switch indicates that the system is not full, otherwise false.

    • getCompressorCurrent

      double getCompressorCurrent()
      Returns the current drawn by the compressor in amps.
      Returns:
      The current drawn by the compressor.

    • disableCompressor

      void disableCompressor()
      Disables the compressor.

    • enableCompressorDigital

      void enableCompressorDigital()
      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.

    • enableCompressorAnalog

      void enableCompressorAnalog(double minPressure, double 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 in PSI. The compressor will turn on when the pressure drops below this value.
      maxPressure - The maximum pressure in PSI. The compressor will turn off when the pressure reaches this value.

    • enableCompressorHybrid

      void enableCompressorHybrid(double minPressure, double 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 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.
      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.

    • getAnalogVoltage

      double getAnalogVoltage(int channel)
      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.

    • getPressure

      double getPressure(int channel)
      If supported by the device, returns the pressure (in PSI) 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 (in PSI) read by an analog pressure sensor on the specified analog input channel.

    • getCompressorConfigType

      CompressorConfigType getCompressorConfigType()
      Returns the active compressor configuration.
      Returns:
      The active compressor configuration.

    • checkSolenoidChannel

      boolean checkSolenoidChannel(int channel)
      Check if a solenoid channel is valid.
      Parameters:
      channel - Channel to check
      Returns:
      True if channel exists

    • checkAndReserveSolenoids

      int checkAndReserveSolenoids(int mask)
      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

    • unreserveSolenoids

      void unreserveSolenoids(int mask)
      Unreserve the solenoids marked in the bitmask.
      Parameters:
      mask - The bitmask of solenoids to unreserve. The LSB represents solenoid 0.

    • reserveCompressor

      boolean reserveCompressor()
      Reserve the compressor.
      Returns:
      true if successful; false if compressor already reserved

    • unreserveCompressor

      void unreserveCompressor()
      Unreserve the compressor.

    • close

      void close()
      Specified by:
      close in interface AutoCloseable

    • makeSolenoid

      Solenoid makeSolenoid(int channel)
      Create a solenoid object for the specified channel.
      Parameters:
      channel - solenoid channel
      Returns:
      Solenoid object

    • makeDoubleSolenoid

      DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel)
      Create a double solenoid object for the specified channels.
      Parameters:
      forwardChannel - solenoid channel for forward
      reverseChannel - solenoid channel for reverse
      Returns:
      DoubleSolenoid object

    • makeCompressor

      Compressor makeCompressor()
      Create a compressor object.
      Returns:
      Compressor object