Package edu.wpi.first.wpilibj

Class Solenoid

java.lang.Object

edu.wpi.first.wpilibj.Solenoid

All Implemented Interfaces:

Sendable, AutoCloseable

public class Solenoid
extends Object
implements Sendable, AutoCloseable

Solenoid class for running high voltage Digital Output on a pneumatics module.

The Solenoid class is typically used for pneumatic solenoids, but could be used for any device within the current spec of the module.

Constructor Summary

Constructors

Constructor	Description
Solenoid(int module, PneumaticsModuleType moduleType, int channel)	Constructs a solenoid for a specified module and type.
Solenoid(PneumaticsModuleType moduleType, int channel)	Constructs a solenoid for a default module and specified type.

Method Summary

Modifier and Type	Method	Description
void	close()
boolean	get()	Read the current value of the solenoid.
int	getChannel()	Get the channel this solenoid is connected to.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
boolean	isDisabled()	Check if solenoid is DisabledListed.
void	set(boolean on)	Set the value of a solenoid.
void	setPulseDuration(double durationSeconds)	Set the pulse duration in the pneumatics module.
void	startPulse()	Trigger the pneumatics module to generate a pulse of the duration set in setPulseDuration.
void	toggle()	Toggle the value of the solenoid.

Methods inherited from class java.lang.Object

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

Constructor Details

Solenoid

public Solenoid(PneumaticsModuleType moduleType, int channel)

Constructs a solenoid for a default module and specified type.

Parameters:

moduleType - The module type to use.

channel - The channel the solenoid is on.

Solenoid

public Solenoid(int module, PneumaticsModuleType moduleType, int channel)

Constructs a solenoid for a specified module and type.

Parameters:

module - The module ID to use.

moduleType - The module type to use.

channel - The channel the solenoid is on.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

set

public void set(boolean on)

Set the value of a solenoid.

Parameters:

on - True will turn the solenoid output on. False will turn the solenoid output off.

get

public boolean get()

Read the current value of the solenoid.

Returns:

True if the solenoid output is on or false if the solenoid output is off.

toggle

public void toggle()

Toggle the value of the solenoid.

If the solenoid is set to on, it'll be turned off. If the solenoid is set to off, it'll be turned on.

getChannel

public int getChannel()

Get the channel this solenoid is connected to.

Returns:

The channel this solenoid is connected to.

isDisabled

public boolean isDisabled()

Check if solenoid is DisabledListed. If a solenoid is shorted, it is added to the Disabled List and disabled until power cycle, or until faults are cleared.

Returns:

If solenoid is disabled due to short.

setPulseDuration

public void setPulseDuration(double durationSeconds)

Set the pulse duration in the pneumatics module. This is used in conjunction with the startPulse method to allow the pneumatics module to control the timing of a pulse.

On the PCM, the timing can be controlled in 0.01 second increments, with a maximum of 2.55 seconds.

On the PH, the timing can be controlled in 0.001 second increments, with a maximum of 65.534 seconds.

Parameters:

durationSeconds - The duration of the pulse in seconds.

See Also:

startPulse()

startPulse

public void startPulse()

Trigger the pneumatics module to generate a pulse of the duration set in setPulseDuration.

See Also:

setPulseDuration(double)

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder