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 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.

    • 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.

    • 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.

    • 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.

    • 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.

    • resetData

      public abstract void resetData()
      Reset all simulation data for this object.