Package edu.wpi.first.wpilibj

Class PneumaticsControlModule

java.lang.Object

edu.wpi.first.wpilibj.PneumaticsControlModule

All Implemented Interfaces:

PneumaticsBase, AutoCloseable

public class PneumaticsControlModule
extends Object
implements PneumaticsBase

Module class for controlling a Cross The Road Electronics Pneumatics Control Module.

Constructor Summary

Constructors

Constructor	Description
PneumaticsControlModule()	Constructs a PneumaticsControlModule with the default ID (0).
PneumaticsControlModule(int module)	Constructs a PneumaticsControlModule.

Method Summary

Modifier and Type	Method	Description
int	checkAndReserveSolenoids(int mask)	Check to see if the solenoids marked in the bitmask can be reserved, and if so, reserve them.
boolean	checkSolenoidChannel(int channel)	Check if a solenoid channel is valid.
void	clearAllStickyFaults()	Clears all sticky faults on this device.
void	close()
void	disableCompressor()	Disables the compressor.
void	enableCompressorAnalog(double minPressure, double maxPressure)	Enables the compressor in digital mode.
void	enableCompressorDigital()	Enables the compressor in digital mode using the digital pressure switch.
void	enableCompressorHybrid(double minPressure, double maxPressure)	Enables the compressor in digital mode.
void	fireOneShot(int index)	Fire a single solenoid shot.
double	getAnalogVoltage(int channel)	Unsupported by the CTRE PCM.
boolean	getCompressor()	Returns whether the compressor is active or not.
CompressorConfigType	getCompressorConfigType()	Returns the active compressor configuration.
double	getCompressorCurrent()	Returns the current drawn by the compressor in amps.
boolean	getCompressorCurrentTooHighFault()	Return whether the compressor current is currently too high.
boolean	getCompressorCurrentTooHighStickyFault()	Returns whether the compressor current has been too high since sticky faults were last cleared.
boolean	getCompressorNotConnectedFault()	Returns whether the compressor is currently disconnected.
boolean	getCompressorNotConnectedStickyFault()	Returns whether the compressor has been disconnected since sticky faults were last cleared.
boolean	getCompressorShortedFault()	Returns whether the compressor is currently shorted.
boolean	getCompressorShortedStickyFault()	Returns whether the compressor has been shorted since sticky faults were last cleared.
int	getModuleNumber()	Get module number for this module.
double	getPressure(int channel)	Unsupported by the CTRE PCM.
boolean	getPressureSwitch()	Returns the state of the pressure switch.
int	getSolenoidDisabledList()	Get a bitmask of disabled solenoids.
int	getSolenoids()	Gets a bitmask of solenoid values.
boolean	getSolenoidVoltageFault()	Returns whether the solenoid is currently reporting a voltage fault.
boolean	getSolenoidVoltageStickyFault()	Returns whether the solenoid has reported a voltage fault since sticky faults were last cleared.
Compressor	makeCompressor()	Create a compressor object.
DoubleSolenoid	makeDoubleSolenoid(int forwardChannel, int reverseChannel)	Create a double solenoid object for the specified channels.
Solenoid	makeSolenoid(int channel)	Create a solenoid object for the specified channel.
boolean	reserveCompressor()	Reserve the compressor.
void	setOneShotDuration(int index, int durMs)	Set the duration for a single solenoid shot.
void	setSolenoids(int mask, int values)	Sets solenoids on a pneumatics module.
void	unreserveCompressor()	Unreserve the compressor.
void	unreserveSolenoids(int mask)	Unreserve the solenoids marked in the bitmask.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PneumaticsControlModule

public PneumaticsControlModule()

Constructs a PneumaticsControlModule with the default ID (0).

PneumaticsControlModule

public PneumaticsControlModule(int module)

Constructs a PneumaticsControlModule.

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.

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.

getCompressorCurrentTooHighFault

public boolean getCompressorCurrentTooHighFault()

Return whether the compressor current is currently too high.

Returns:

True if the compressor current is too high, otherwise false.

See Also:

• getCompressorCurrentTooHighStickyFault()

getCompressorCurrentTooHighStickyFault

public boolean getCompressorCurrentTooHighStickyFault()

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()

Returns:

True if the compressor current has been too high since sticky faults were last cleared.

See Also:

• getCompressorCurrentTooHighFault()

getCompressorShortedFault

public boolean getCompressorShortedFault()

Returns whether the compressor is currently shorted.

Returns:

True if the compressor is currently shorted, otherwise false.

See Also:

• getCompressorShortedStickyFault()

getCompressorShortedStickyFault

public boolean getCompressorShortedStickyFault()

Returns whether the compressor has been shorted since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()

Returns:

True if the compressor has been shorted since sticky faults were last cleared, otherwise false.

See Also:

• getCompressorShortedFault()

getCompressorNotConnectedFault

public boolean getCompressorNotConnectedFault()

Returns whether the compressor is currently disconnected.

Returns:

True if compressor is currently disconnected, otherwise false.

See Also:

• getCompressorNotConnectedStickyFault()

getCompressorNotConnectedStickyFault

public boolean getCompressorNotConnectedStickyFault()

Returns whether the compressor has been disconnected since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()

Returns:

True if the compressor has been disconnected since sticky faults were last cleared, otherwise false.

See Also:

• getCompressorNotConnectedFault()

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

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.

getSolenoidVoltageFault

public boolean getSolenoidVoltageFault()

Returns whether the solenoid is currently reporting a voltage fault.

Returns:

True if solenoid is reporting a fault, otherwise false.

See Also:

• getSolenoidVoltageStickyFault()

getSolenoidVoltageStickyFault

public boolean getSolenoidVoltageStickyFault()

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()

Returns:

True if solenoid is reporting a fault, otherwise false.

See Also:

• getSolenoidVoltageFault()

clearAllStickyFaults

public void clearAllStickyFaults()

Clears all sticky faults on this device.

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

disableCompressor

public void disableCompressor()

Disables the compressor. The compressor will not turn on until enableCompressorDigital() is 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 digital mode. Analog mode is unsupported by the CTRE PCM.

Specified by:

enableCompressorAnalog in interface PneumaticsBase

Parameters:

minPressure - Unsupported.

maxPressure - Unsupported.

See Also:

• enableCompressorDigital()

enableCompressorHybrid

public void enableCompressorHybrid(double minPressure,
 double maxPressure)

Enables the compressor in digital mode. Hybrid mode is unsupported by the CTRE PCM.

Specified by:

enableCompressorHybrid in interface PneumaticsBase

Parameters:

minPressure - Unsupported.

maxPressure - Unsupported.

See Also:

• enableCompressorDigital()

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.

getAnalogVoltage

public double getAnalogVoltage(int channel)

Unsupported by the CTRE PCM.

Specified by:

getAnalogVoltage in interface PneumaticsBase

Parameters:

channel - Unsupported.

Returns:

0

getPressure

public double getPressure(int channel)

Unsupported by the CTRE PCM.

Specified by:

getPressure in interface PneumaticsBase

Parameters:

channel - Unsupported.

Returns:

0