Class Solenoid

java.lang.Object
org.wpilib.hardware.pneumatic.Solenoid
All Implemented Interfaces:
AutoCloseable, TelemetryLoggable
public class Solenoid extends Object implements TelemetryLoggable, AutoCloseable
Solenoid class for running high voltage Digital Output on a pneumatics module.

The Solenoid class is typically used for pneumatic solenoids, but could be used for any device within the current spec of the module.

  • Constructor Details

    • Solenoid

      public Solenoid(CANPort busId, PneumaticsModuleType moduleType, int channel)
      Constructs a solenoid for a default module and specified type.
      Parameters:
      busId - The bus ID
      moduleType - The module type to use.
      channel - The channel the solenoid is on.

    • Solenoid

      public Solenoid(CANPort busId, int module, PneumaticsModuleType moduleType, int channel)
      Constructs a solenoid for a specified module and type.
      Parameters:
      busId - The bus ID
      module - The module ID to use.
      moduleType - The module type to use.
      channel - The channel the solenoid is on.

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • set

      public void set(boolean on)
      Set the value of a solenoid.
      Parameters:
      on - True will turn the solenoid output on. False will turn the solenoid output off.

    • get

      public boolean get()
      Read the current value of the solenoid.
      Returns:
      True if the solenoid output is on or false if the solenoid output is off.

    • toggle

      public void toggle()
      Toggle the value of the solenoid.

      If the solenoid is set to on, it'll be turned off. If the solenoid is set to off, it'll be turned on.

    • getChannel

      public int getChannel()
      Get the channel this solenoid is connected to.
      Returns:
      The channel this solenoid is connected to.

    • isDisabled

      public boolean isDisabled()
      Check if solenoid is DisabledListed. If a solenoid is shorted, it is added to the Disabled List and disabled until power cycle, or until faults are cleared.
      Returns:
      If solenoid is disabled due to short.

    • setPulseDuration

      public void setPulseDuration(double duration)
      Set the pulse duration in the pneumatics module. This is used in conjunction with the startPulse method to allow the pneumatics module to control the timing of a pulse.

      On the PCM, the timing can be controlled in 0.01 second increments, with a maximum of 2.55 seconds.

      On the PH, the timing can be controlled in 0.001 second increments, with a maximum of 65.534 seconds.

      Parameters:
      duration - The duration of the pulse in seconds.
      See Also:

    • startPulse

      public void startPulse()
      Trigger the pneumatics module to generate a pulse of the duration set in setPulseDuration.
      See Also:

    • logTo

      public void logTo(TelemetryTable table)
      Description copied from interface: TelemetryLoggable
      Logs the object to a TelemetryTable.
      Specified by:
      logTo in interface TelemetryLoggable
      Parameters:
      table - telemetry table

    • getTelemetryType

      public String getTelemetryType()
      Description copied from interface: TelemetryLoggable
      Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.
      Specified by:
      getTelemetryType in interface TelemetryLoggable
      Returns:
      Table type