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FRC2016-old/wpilib/cpp/current/include/Compressor.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef Compressor_H_
#define Compressor_H_
#include "HAL/HAL.hpp"
#include "SensorBase.h"
#include "tables/ITableListener.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
/**
* PCM compressor
*/
class Compressor : public SensorBase,
public LiveWindowSendable,
public ITableListener {
public:
// Default PCM ID is 0
explicit Compressor(uint8_t pcmID = GetDefaultSolenoidModule());
virtual ~Compressor() = default;
void Start();
void Stop();
bool Enabled() const;
bool GetPressureSwitchValue() const;
float GetCompressorCurrent() const;
void SetClosedLoopControl(bool on);
bool GetClosedLoopControl() const;
bool GetCompressorCurrentTooHighFault() const;
bool GetCompressorCurrentTooHighStickyFault() const;
bool GetCompressorShortedStickyFault() const;
bool GetCompressorShortedFault() const;
bool GetCompressorNotConnectedStickyFault() const;
bool GetCompressorNotConnectedFault() const;
void ClearAllPCMStickyFaults();
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
protected:
void *m_pcm_pointer;
private:
void SetCompressor(bool on);
std::shared_ptr<ITable> m_table;
};
#endif /* Compressor_H_ */