Class CTREPCMJNI

java.lang.Object

org.wpilib.hardware.hal.JNIWrapper

org.wpilib.hardware.hal.CTREPCMJNI

public class CTREPCMJNI
extends JNIWrapper

CTRE Pneumatic Control Module (PCM) Functions.

See Also:

• "CTREPCM.h"

Nested Class Summary

Nested classes/interfaces inherited from class JNIWrapper

JNIWrapper.Helper

Method Summary

Modifier and Type	Method	Description
static boolean	checkSolenoidChannel(int channel)	Checks if a solenoid channel number is valid.
static void	clearAllStickyFaults(int handle)	Clears all sticky faults on this device.
static void	fireOneShot(int handle, int index)	Fire a single solenoid shot.
static void	free(int handle)	Frees a PCM handle.
static boolean	getClosedLoopControl(int handle)	Get whether the PCM closed loop control is enabled.
static boolean	getCompressor(int handle)	Get whether compressor is turned on.
static double	getCompressorCurrent(int handle)	Returns the current drawn by the compressor.
static boolean	getCompressorCurrentTooHighFault(int handle)	Return whether the compressor current is currently too high.
static boolean	getCompressorCurrentTooHighStickyFault(int handle)	Returns whether the compressor current has been too high since sticky faults were last cleared.
static boolean	getCompressorNotConnectedFault(int handle)	Returns whether the compressor is currently disconnected.
static boolean	getCompressorNotConnectedStickyFault(int handle)	Returns whether the compressor has been disconnected since sticky faults were last cleared.
static boolean	getCompressorShortedFault(int handle)	Returns whether the compressor is currently shorted.
static boolean	getCompressorShortedStickyFault(int handle)	Returns whether the compressor has been shorted since sticky faults were last cleared.
static boolean	getPressureSwitch(int handle)	Returns the state of the pressure switch.
static int	getSolenoidDisabledList(int handle)	Get a bitmask of disabled solenoids.
static int	getSolenoids(int handle)	Gets a bitmask of solenoid values.
static boolean	getSolenoidVoltageFault(int handle)	Returns whether the solenoid is currently reporting a voltage fault.
static boolean	getSolenoidVoltageStickyFault(int handle)	Returns whether the solenoid has reported a voltage fault since sticky faults were last cleared.
static int	initialize(int busId, int module)	Initializes a PCM.
static void	setClosedLoopControl(int handle, boolean enabled)	Enables the compressor closed loop control using the digital pressure switch.
static void	setOneShotDuration(int handle, int index, int durMs)	Set the duration for a single solenoid shot.
static void	setSolenoids(int handle, int mask, int values)	Sets solenoids on a pneumatics module.

Methods inherited from class JNIWrapper

forceLoad, suppressUnused

Methods inherited from class Object

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

Method Details

initialize

public static int initialize(int busId,
 int module)

Initializes a PCM.

Parameters:

busId - the bus id

module - the CAN ID to initialize

Returns:

the created PH handle

See Also:

• "HAL_InitializeCTREPCM"

free

public static void free(int handle)

Frees a PCM handle.

Parameters:

handle - the PCMhandle

See Also:

• "HAL_FreeCTREPCM"

checkSolenoidChannel

public static boolean checkSolenoidChannel(int channel)

Checks if a solenoid channel number is valid.

Parameters:

channel - the channel to check

Returns:

true if the channel is valid, otherwise false

getCompressor

public static boolean getCompressor(int handle)

Get whether compressor is turned on.

Parameters:

handle - the PCM handle

Returns:

true if the compressor is turned on

See Also:

• "HAL_GetCTREPCMCompressor"

setClosedLoopControl

public static void setClosedLoopControl(int handle,
 boolean enabled)

Enables the compressor closed loop control using the digital pressure switch. The compressor will turn on when the pressure switch indicates that the system is not full, and will turn off when the pressure switch indicates that the system is full.

Parameters:

handle - the PCM handle

enabled - true to enable closed loop control

See Also:

• "HAL_SetCTREPCMClosedLoopControl"

getClosedLoopControl

public static boolean getClosedLoopControl(int handle)

Get whether the PCM closed loop control is enabled.

Parameters:

handle - the PCM handle

Returns:

True if closed loop control is enabled, otherwise false.

getPressureSwitch

public static boolean getPressureSwitch(int handle)

Returns the state of the pressure switch.

Parameters:

handle - the PCM handle

Returns:

True if pressure switch indicates that the system is full, otherwise false.

See Also:

• "HAL_GetCTREPCMPressureSwitch"

getCompressorCurrent

public static double getCompressorCurrent(int handle)

Returns the current drawn by the compressor.

Parameters:

handle - the PCM handle

Returns:

The current drawn by the compressor in amps.

See Also:

• "HAL_GetCTREPCMCompressorCurrent"

getCompressorCurrentTooHighFault

public static boolean getCompressorCurrentTooHighFault(int handle)

Return whether the compressor current is currently too high.

Parameters:

handle - the PCM handle

Returns:

True if the compressor current is too high, otherwise false.

See Also:

• getCompressorCurrentTooHighStickyFault(int)
• "HAL_GetCTREPCMCompressorCurrentTooHighFault"

getCompressorCurrentTooHighStickyFault

public static boolean getCompressorCurrentTooHighStickyFault(int handle)

Returns whether the compressor current has been too high since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()

Parameters:

handle - the PCM handle

Returns:

True if the compressor current has been too high since sticky faults were last cleared.

See Also:

• getCompressorCurrentTooHighFault(int)
• "HAL_GetCTREPCMCompressorCurrentTooHighStickyFault("

getCompressorShortedFault

public static boolean getCompressorShortedFault(int handle)

Returns whether the compressor is currently shorted.

Parameters:

handle - the PCM handle

Returns:

True if the compressor is currently shorted, otherwise false.

See Also:

• getCompressorCurrentTooHighStickyFault(int)
• "HAL_GetCTREPCMCompressorShortedStickyFault"

getCompressorShortedStickyFault

public static boolean getCompressorShortedStickyFault(int handle)

Returns whether the compressor has been shorted since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()

Parameters:

handle - the PCM handle

Returns:

True if the compressor has been shorted since sticky faults were last cleared, otherwise false.

See Also:

• getCompressorShortedFault(int)
• "HAL_GetCTREPCMCompressorShortedFault"

getCompressorNotConnectedFault

public static boolean getCompressorNotConnectedFault(int handle)

Returns whether the compressor is currently disconnected.

Parameters:

handle - the PCM handle

Returns:

True if compressor is currently disconnected, otherwise false.

See Also:

• getCompressorShortedStickyFault(int)
• "HAL_GetCTREPCMCompressorNotConnectedFault"

getCompressorNotConnectedStickyFault

public static boolean getCompressorNotConnectedStickyFault(int handle)

Returns whether the compressor has been disconnected since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()

Parameters:

handle - the PCM handle

Returns:

True if the compressor has been disconnected since sticky faults were last cleared, otherwise false.

See Also:

• getCompressorNotConnectedFault(int)
• "HAL_GetCTREPCMCompressorNotConnectedStickyFault"

getSolenoids

public static int getSolenoids(int handle)

Gets a bitmask of solenoid values.

Parameters:

handle - the PCM handle

Returns:

Bitmask containing the state of the solenoids. The LSB represents solenoid 0.

See Also:

• "HAL_GetCTREPCMSolenoids"

setSolenoids

public static void setSolenoids(int handle,
 int mask,
 int values)

Sets solenoids on a pneumatics module.

Parameters:

handle - the PCM handle

mask - Bitmask indicating which solenoids to set. The LSB represents solenoid 0.

values - Bitmask indicating the desired states of the solenoids. The LSB represents solenoid 0.

See Also:

• "HAL_SetCTREPCMSolenoids"

getSolenoidDisabledList

public static int getSolenoidDisabledList(int handle)

Get a bitmask of disabled solenoids.

Parameters:

handle - the PCM handle

Returns:

Bitmask indicating disabled solenoids. The LSB represents solenoid 0.

See Also:

• "HAL_GetCTREPCMSolenoidDisabledList"

getSolenoidVoltageFault

public static boolean getSolenoidVoltageFault(int handle)

Returns whether the solenoid is currently reporting a voltage fault.

Parameters:

handle - the PCM handle

Returns:

True if solenoid is reporting a fault, otherwise false.

See Also:

• getSolenoidVoltageStickyFault(int)
• "HAL_GetCTREPCMSolenoidVoltageFault"

getSolenoidVoltageStickyFault

public static boolean getSolenoidVoltageStickyFault(int handle)

Returns whether the solenoid has reported a voltage fault since sticky faults were last cleared. This fault is persistent and can be cleared by clearAllStickyFaults()

Parameters:

handle - the PCM handle

Returns:

True if solenoid is reporting a fault, otherwise false.

See Also:

• getSolenoidVoltageFault(int)
• "HAL_GetCTREPCMSolenoidVoltageStickyFault"

clearAllStickyFaults

public static void clearAllStickyFaults(int handle)

Clears all sticky faults on this device.

Parameters:

handle - the PCM handle

See Also:

• "HAL_ClearAllCTREPCMStickyFaults"

fireOneShot

public static void fireOneShot(int handle,
 int index)

Fire a single solenoid shot.

Parameters:

handle - the PCM handle

index - solenoid index

See Also:

• "HAL_FireCTREPCMOneShot"

setOneShotDuration

public static void setOneShotDuration(int handle,
 int index,
 int durMs)

Set the duration for a single solenoid shot.

Parameters:

handle - the PCM handle

index - solenoid index

durMs - shot duration in ms

See Also:

• "HAL_SetCTREPCMOneShotDuration"