Package edu.wpi.first.wpilibj.simulation

Class CTREPCMSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.PneumaticsBaseSim

edu.wpi.first.wpilibj.simulation.CTREPCMSim

public class CTREPCMSim
extends PneumaticsBaseSim

Class to control a simulated Pneumatic Control Module (PCM).

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.simulation.PneumaticsBaseSim

m_index

Constructor Summary

Constructors

Constructor	Description
CTREPCMSim()	Constructs for the default PCM.
CTREPCMSim(int module)	Constructs from a PCM module number (CAN ID).
CTREPCMSim(PneumaticsControlModule module)	Constructs from a PneumaticsControlModule object.

Method Summary

Modifier and Type	Method	Description
boolean	getClosedLoopEnabled()	Check whether the closed loop compressor control is active.
double	getCompressorCurrent()	Read the compressor current.
boolean	getCompressorOn()	Check if the compressor is on.
boolean	getInitialized()	Check whether the PCM/PH has been initialized.
boolean	getPressureSwitch()	Check the value of the pressure switch.
boolean	getSolenoidOutput(int channel)	Check the solenoid output on a specific channel.
CallbackStore	registerClosedLoopEnabledCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the closed loop state changes.
CallbackStore	registerCompressorCurrentCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the compressor current changes.
CallbackStore	registerCompressorOnCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the compressor activates.
CallbackStore	registerInitializedCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PCM/PH is initialized.
CallbackStore	registerPressureSwitchCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the pressure switch value changes.
CallbackStore	registerSolenoidOutputCallback(int channel, NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the solenoid output on a channel changes.
void	resetData()	Reset all simulation data for this object.
void	setClosedLoopEnabled(boolean closedLoopEnabled)	Turn on/off the closed loop control of the compressor.
void	setCompressorCurrent(double compressorCurrent)	Set the compressor current.
void	setCompressorOn(boolean compressorOn)	Set whether the compressor is active.
void	setInitialized(boolean initialized)	Define whether the PCM/PH has been initialized.
void	setPressureSwitch(boolean pressureSwitch)	Set the value of the pressure switch.
void	setSolenoidOutput(int channel, boolean solenoidOutput)	Change the solenoid output on a specific channel.

Methods inherited from class edu.wpi.first.wpilibj.simulation.PneumaticsBaseSim

getForType

Methods inherited from class java.lang.Object

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

Constructor Details

CTREPCMSim

public CTREPCMSim()

Constructs for the default PCM.

CTREPCMSim

public CTREPCMSim(int module)

Constructs from a PCM module number (CAN ID).

Parameters:

module - module number

CTREPCMSim

public CTREPCMSim(PneumaticsControlModule module)

Constructs from a PneumaticsControlModule object.

Parameters:

module - PCM module to simulate

Method Details

getClosedLoopEnabled

public boolean getClosedLoopEnabled()

Check whether the closed loop compressor control is active.

Returns:

true if active

setClosedLoopEnabled

public void setClosedLoopEnabled(boolean closedLoopEnabled)

Turn on/off the closed loop control of the compressor.

Parameters:

closedLoopEnabled - whether the control loop is active

registerClosedLoopEnabledCallback

public CallbackStore registerClosedLoopEnabledCallback(NotifyCallback callback,
 boolean initialNotify)

Register a callback to be run whenever the closed loop state changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback.

getInitialized

public boolean getInitialized()

Description copied from class: PneumaticsBaseSim

Check whether the PCM/PH has been initialized.

Specified by:

getInitialized in class PneumaticsBaseSim

Returns:

true if initialized

setInitialized

public void setInitialized(boolean initialized)

Description copied from class: PneumaticsBaseSim

Define whether the PCM/PH has been initialized.

Specified by:

setInitialized in class PneumaticsBaseSim

Parameters:

initialized - true for initialized

registerInitializedCallback

public CallbackStore registerInitializedCallback(NotifyCallback callback,
 boolean initialNotify)

Description copied from class: PneumaticsBaseSim

Register a callback to be run when the PCM/PH is initialized.

Specified by:

registerInitializedCallback in class PneumaticsBaseSim

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback.

getCompressorOn

public boolean getCompressorOn()

Description copied from class: PneumaticsBaseSim

Check if the compressor is on.

Specified by:

getCompressorOn in class PneumaticsBaseSim

Returns:

true if the compressor is active

setCompressorOn

public void setCompressorOn(boolean compressorOn)

Description copied from class: PneumaticsBaseSim

Set whether the compressor is active.

Specified by:

setCompressorOn in class PneumaticsBaseSim

Parameters:

compressorOn - the new value

registerCompressorOnCallback

public CallbackStore registerCompressorOnCallback(NotifyCallback callback,
 boolean initialNotify)

Description copied from class: PneumaticsBaseSim

Register a callback to be run when the compressor activates.

Specified by:

registerCompressorOnCallback in class PneumaticsBaseSim

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback.

getSolenoidOutput

public boolean getSolenoidOutput(int channel)

Description copied from class: PneumaticsBaseSim

Check the solenoid output on a specific channel.

Specified by:

getSolenoidOutput in class PneumaticsBaseSim

Parameters:

channel - the channel to check

Returns:

the solenoid output

setSolenoidOutput

public void setSolenoidOutput(int channel,
 boolean solenoidOutput)

Description copied from class: PneumaticsBaseSim

Change the solenoid output on a specific channel.

Specified by:

setSolenoidOutput in class PneumaticsBaseSim

Parameters:

channel - the channel to check

solenoidOutput - the new solenoid output

registerSolenoidOutputCallback

public CallbackStore registerSolenoidOutputCallback(int channel,
 NotifyCallback callback,
 boolean initialNotify)

Description copied from class: PneumaticsBaseSim

Register a callback to be run when the solenoid output on a channel changes.

Specified by:

registerSolenoidOutputCallback in class PneumaticsBaseSim

Parameters:

channel - the channel to monitor

callback - the callback

initialNotify - should the callback be run with the initial value

Returns:

the CallbackStore object associated with this callback.

getPressureSwitch

public boolean getPressureSwitch()

Description copied from class: PneumaticsBaseSim

Check the value of the pressure switch.

Specified by:

getPressureSwitch in class PneumaticsBaseSim

Returns:

the pressure switch value

setPressureSwitch

public void setPressureSwitch(boolean pressureSwitch)

Description copied from class: PneumaticsBaseSim

Set the value of the pressure switch.

Specified by:

setPressureSwitch in class PneumaticsBaseSim

Parameters:

pressureSwitch - the new value

registerPressureSwitchCallback

public CallbackStore registerPressureSwitchCallback(NotifyCallback callback,
 boolean initialNotify)

Description copied from class: PneumaticsBaseSim

Register a callback to be run whenever the pressure switch value changes.

Specified by:

registerPressureSwitchCallback in class PneumaticsBaseSim

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback.

getCompressorCurrent

public double getCompressorCurrent()

Description copied from class: PneumaticsBaseSim

Read the compressor current.

Specified by:

getCompressorCurrent in class PneumaticsBaseSim

Returns:

the current of the compressor connected to this module

setCompressorCurrent

public void setCompressorCurrent(double compressorCurrent)

Description copied from class: PneumaticsBaseSim

Set the compressor current.

Specified by:

setCompressorCurrent in class PneumaticsBaseSim

Parameters:

compressorCurrent - the new compressor current

registerCompressorCurrentCallback

public CallbackStore registerCompressorCurrentCallback(NotifyCallback callback,
 boolean initialNotify)

Description copied from class: PneumaticsBaseSim

Register a callback to be run whenever the compressor current changes.

Specified by:

registerCompressorCurrentCallback in class PneumaticsBaseSim

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback.

resetData

public void resetData()

Description copied from class: PneumaticsBaseSim

Reset all simulation data for this object.

Specified by:

resetData in class PneumaticsBaseSim