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FRC2016-old/wpilib/cpp/current/include/SolenoidBase.h
2016-01-28 11:33:19 -05:00

41 lines
1.4 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "Resource.h"
#include "SensorBase.h"
#include "HAL/HAL.hpp"
#include "HAL/Port.h"
#include <memory>
/**
* SolenoidBase class is the common base class for the Solenoid and
* DoubleSolenoid classes.
*/
class SolenoidBase : public SensorBase {
public:
virtual ~SolenoidBase() = default;
uint8_t GetAll(int module = 0) const;
uint8_t GetPCMSolenoidBlackList(int module) const;
bool GetPCMSolenoidVoltageStickyFault(int module) const;
bool GetPCMSolenoidVoltageFault(int module) const;
void ClearAllPCMStickyFaults(int module);
protected:
explicit SolenoidBase(uint8_t pcmID);
void Set(uint8_t value, uint8_t mask, int module);
const static int m_maxModules = 63;
const static int m_maxPorts = 8;
static void* m_ports[m_maxModules][m_maxPorts];
uint32_t m_moduleNumber; ///< Slot number where the module is plugged into
///the chassis.
static std::unique_ptr<Resource> m_allocated;
};