io.github.robolib.module.actuator

Class SolenoidBase

java.lang.Object

io.github.robolib.module.actuator.SolenoidBase

Direct Known Subclasses:

DoubleSolenoid, Solenoid

public abstract class SolenoidBase
extends java.lang.Object

The Class SolenoidBase.

Author:

noriah

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SolenoidBase.SolenoidChannel The Enum Channel.
static class	SolenoidBase.Value The Enum Value.

Field Summary

Fields

Modifier and Type	Field and Description
private static java.nio.ByteBuffer[]	MODULE_PORTS Ports for blacklist checking
protected static byte	SOLENOID_OFF The Constant kSolenoidOff.
protected static byte	SOLENOID_ON The Constant kSolenoidOn.
private static boolean[]	USED_CHANNELS Keep track of already used channels.

Constructor Summary

Constructors

Constructor and Description
SolenoidBase()

Method Summary

Modifier and Type	Method and Description
private static void	allocateChannel(SolenoidBase.SolenoidChannel channel) Allocate a Solenoid channel.
void	clearAllPCMStickyFaults(int module) Clear ALL sticky faults inside PCM that Compressor is wired to.
protected static void	freeChannel(SolenoidBase.SolenoidChannel channel) Free channel.
abstract SolenoidBase.Value	get()
protected static boolean	get(java.nio.ByteBuffer port)
byte	getPCMSolenoidBlacklist(int module) Reads complete solenoid blacklist for all 8 solenoids as a single byte.
boolean	getPCMSolenoidVoltageFault(int module)
boolean	getPCMSolenoidVoltageStickyFault(int module)
protected static java.nio.ByteBuffer	initChannel(SolenoidBase.SolenoidChannel channel) Inits the module.
protected static void	set(java.nio.ByteBuffer port, byte value) Sets the.
abstract void	set(SolenoidBase.Value value) Sets the.
private static void	unallocateChannel(SolenoidBase.SolenoidChannel channel) Free a Solenoid channel.

Methods inherited from class java.lang.Object

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

Field Detail

USED_CHANNELS

private static final boolean[] USED_CHANNELS

Keep track of already used channels.

MODULE_PORTS

private static final java.nio.ByteBuffer[] MODULE_PORTS

Ports for blacklist checking

SOLENOID_OFF

protected static final byte SOLENOID_OFF

The Constant kSolenoidOff.

See Also:

Constant Field Values

SOLENOID_ON

protected static final byte SOLENOID_ON

The Constant kSolenoidOn.

See Also:

Constant Field Values

Constructor Detail

SolenoidBase

public SolenoidBase()

Method Detail

initChannel

protected static final java.nio.ByteBuffer initChannel(SolenoidBase.SolenoidChannel channel)

Inits the module.

Parameters:

channel - the channel

Returns:

the byte buffer

freeChannel

protected static final void freeChannel(SolenoidBase.SolenoidChannel channel)

Free channel.

Parameters:

channel - the channel

allocateChannel

private static final void allocateChannel(SolenoidBase.SolenoidChannel channel)

Allocate a Solenoid channel.

Parameters:

channel - the Solenoid channel to allocate

unallocateChannel

private static final void unallocateChannel(SolenoidBase.SolenoidChannel channel)

Free a Solenoid channel.

Parameters:

channel - the Solenoid channel to free

getPCMSolenoidBlacklist

public final byte getPCMSolenoidBlacklist(int module)

Reads complete solenoid blacklist for all 8 solenoids as a single byte. If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

Parameters:

module -

Returns:

The solenoid blacklist of all 8 solenoids on the module.

See Also:

clearAllPCMStickyFaults(int)

getPCMSolenoidVoltageStickyFault

public final boolean getPCMSolenoidVoltageStickyFault(int module)

Parameters:

module -

Returns:

true if PCM sticky fault is set : The common highside solenoid voltage rail is too low, most likely a solenoid channel is shorted.

getPCMSolenoidVoltageFault

public final boolean getPCMSolenoidVoltageFault(int module)

Parameters:

module -

Returns:

true if PCM is in fault state : The common highside solenoid voltage rail is too low, most likely a solenoid channel is shorted.

clearAllPCMStickyFaults

public final void clearAllPCMStickyFaults(int module)

Clear ALL sticky faults inside PCM that Compressor is wired to. If a sticky fault is set, then it will be persistently cleared. Compressor drive maybe momentarily disable while flags are being cleared. Care should be taken to not call this too frequently, otherwise normal compressor functionality may be prevented. If no sticky faults are set then this call will have no effect.

Parameters:

module -

set

protected static final void set(java.nio.ByteBuffer port,
                                byte value)

Sets the.

Parameters:

port - the port

value - the value

get

protected static final boolean get(java.nio.ByteBuffer port)

Parameters:

port -

Returns:

the value of the solenoid

set

public abstract void set(SolenoidBase.Value value)

Sets the.

Parameters:

value - the value

get

public abstract SolenoidBase.Value get()

Returns:

get the value of the solenoid