Package edu.wpi.first.wpilibj.simulation

Class PneumaticsBaseSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.PneumaticsBaseSim

Direct Known Subclasses:

CTREPCMSim, REVPHSim

public abstract class PneumaticsBaseSim
extends Object

Common base class for pneumatics module simulation classes.

Field Summary

Fields

Modifier and Type	Field	Description
protected int	m_index	PneumaticsBase index.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PneumaticsBaseSim(int index)	Constructs a PneumaticsBaseSim with the given index.
protected	PneumaticsBaseSim(PneumaticsBase module)	Constructs a PneumaticsBaseSim for the given module.

Method Summary

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

Methods inherited from class java.lang.Object

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

Field Details

m_index

protected final int m_index

PneumaticsBase index.

Constructor Details

PneumaticsBaseSim

protected PneumaticsBaseSim(int index)

Constructs a PneumaticsBaseSim with the given index.

Parameters:

index - The index.

PneumaticsBaseSim

protected PneumaticsBaseSim(PneumaticsBase module)

Constructs a PneumaticsBaseSim for the given module.

Parameters:

module - The module.

Method Details

getForType

public static PneumaticsBaseSim getForType(int module, PneumaticsModuleType type)

Get a module sim for a specific type.

Parameters:

module - the module number / CAN ID.

type - the module type.

Returns:

the module object.

getInitialized

public abstract boolean getInitialized()

Check whether the PCM/PH has been initialized.

Returns:

true if initialized

setInitialized

public abstract void setInitialized(boolean initialized)

Define whether the PCM/PH has been initialized.

Parameters:

initialized - true for initialized

registerInitializedCallback

public abstract CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify)

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

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getCompressorOn

public abstract boolean getCompressorOn()

Check if the compressor is on.

Returns:

true if the compressor is active

setCompressorOn

public abstract void setCompressorOn(boolean compressorOn)

Set whether the compressor is active.

Parameters:

compressorOn - the new value

registerCompressorOnCallback

public abstract CallbackStore registerCompressorOnCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the compressor activates.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getSolenoidOutput

public abstract boolean getSolenoidOutput(int channel)

Check the solenoid output on a specific channel.

Parameters:

channel - the channel to check

Returns:

the solenoid output

setSolenoidOutput

public abstract void setSolenoidOutput(int channel, boolean solenoidOutput)

Change the solenoid output on a specific channel.

Parameters:

channel - the channel to check

solenoidOutput - the new solenoid output

registerSolenoidOutputCallback

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

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

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. Save a reference to this object so GC doesn't cancel the callback.

getPressureSwitch

public abstract boolean getPressureSwitch()

Check the value of the pressure switch.

Returns:

the pressure switch value

setPressureSwitch

public abstract void setPressureSwitch(boolean pressureSwitch)

Set the value of the pressure switch.

Parameters:

pressureSwitch - the new value

registerPressureSwitchCallback

public abstract CallbackStore registerPressureSwitchCallback(NotifyCallback callback, boolean initialNotify)

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

Parameters:

callback - the callback

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

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getCompressorCurrent

public abstract double getCompressorCurrent()

Read the compressor current.

Returns:

the current of the compressor connected to this module

setCompressorCurrent

public abstract void setCompressorCurrent(double compressorCurrent)

Set the compressor current.

Parameters:

compressorCurrent - the new compressor current

registerCompressorCurrentCallback

public abstract CallbackStore registerCompressorCurrentCallback(NotifyCallback callback, boolean initialNotify)

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

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

resetData

public abstract void resetData()

Reset all simulation data for this object.