io.github.robolib.module.actuator

Class Solenoid

java.lang.Object

io.github.robolib.module.actuator.SolenoidBase

io.github.robolib.module.actuator.Solenoid

All Implemented Interfaces:

BooleanSink, BooleanSource, LiveWindowSendable, Sendable, UpdatingSendable, ActuatorModule, Module

public final class Solenoid
extends SolenoidBase
implements ActuatorModule, LiveWindowSendable, BooleanSink, BooleanSource

The Class Solenoid.

Author:

noriah

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.actuator.SolenoidBase

SolenoidBase.SolenoidChannel, SolenoidBase.Value

Field Summary

Fields

Modifier and Type	Field and Description
private SolenoidBase.SolenoidChannel	m_channel
private java.nio.ByteBuffer	m_port
private ITable	m_table
private ITableListener	m_table_listener

Fields inherited from class io.github.robolib.module.actuator.SolenoidBase

SOLENOID_OFF, SOLENOID_ON

Constructor Summary

Constructors

Constructor and Description
Solenoid(SolenoidBase.SolenoidChannel channel)

Method Summary

Modifier and Type	Method and Description
void	disableModule() Disable the module
void	enableModule() Enable the module
SolenoidBase.Value	get()
SolenoidBase.SolenoidChannel	getChannel()
int	getChannelNumber()
boolean	getModuleEnabled()
java.lang.String	getSmartDashboardType()
boolean	getState() Get the value of this boolean source
ITable	getTable()
void	initTable(ITable subtable)
boolean	isBlackListed() Check if solenoid is blacklisted.
void	makeSafe() Make this actuator safe.
void	set(SolenoidBase.Value value) Sets the.
void	setState(boolean value) Set the solenoid with a boolean value.
void	startLiveWindowMode()
void	stopLiveWindowMode()
void	updateTable()

Methods inherited from class io.github.robolib.module.actuator.SolenoidBase

clearAllPCMStickyFaults, freeChannel, get, getPCMSolenoidBlacklist, getPCMSolenoidVoltageFault, getPCMSolenoidVoltageStickyFault, initChannel, set

Methods inherited from class java.lang.Object

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

Methods inherited from interface io.github.robolib.identifier.BooleanSink

bindBoolean, bindBoolean

Field Detail

m_port

private final java.nio.ByteBuffer m_port

m_channel

private final SolenoidBase.SolenoidChannel m_channel

m_table

private ITable m_table

m_table_listener

private ITableListener m_table_listener

Constructor Detail

Solenoid

public Solenoid(SolenoidBase.SolenoidChannel channel)

Method Detail

getChannelNumber

public int getChannelNumber()

getChannel

public SolenoidBase.SolenoidChannel getChannel()

setState

public void setState(boolean value)

Set the solenoid with a boolean value.

Specified by:

setState in interface BooleanSink

Parameters:

value - on or off

set

public void set(SolenoidBase.Value value)

Sets the.

Specified by:

set in class SolenoidBase

Parameters:

value - the value

get

public SolenoidBase.Value get()

Specified by:

get in class SolenoidBase

Returns:

get the value of the solenoid

getState

public boolean getState()

Description copied from interface: BooleanSource

Get the value of this boolean source

Specified by:

getState in interface BooleanSource

Returns:

value of the source

isBlackListed

public boolean isBlackListed()

Check if solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

Returns:

If solenoid is disabled due to short.

See Also:

SolenoidBase.clearAllPCMStickyFaults(int)

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

initTable

public void initTable(ITable subtable)

Specified by:

initTable in interface Sendable

getTable

public ITable getTable()

Specified by:

getTable in interface Sendable

updateTable

public void updateTable()

Specified by:

updateTable in interface UpdatingSendable

startLiveWindowMode

public void startLiveWindowMode()

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Specified by:

stopLiveWindowMode in interface LiveWindowSendable

enableModule

public void enableModule()

Enable the module

Specified by:

enableModule in interface Module

disableModule

public void disableModule()

Disable the module

Specified by:

disableModule in interface Module

makeSafe

public void makeSafe()

Make this actuator safe. This should disable the module and keep it disabled. There should be no way to recover from a "safe" state. This is here to allow for exceptions in function, to keep the code resetting (switching game mode) from affecting the state, in case an external sensor detects that the module will cause damage to itself or others (or even people) To recover from this state, the code should need to be restarted.

Specified by:

makeSafe in interface ActuatorModule

getModuleEnabled

public boolean getModuleEnabled()

Specified by:

getModuleEnabled in interface Module