edu.wpi.first.wpilibj
Class Compressor

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.Compressor

All Implemented Interfaces:

LiveWindowSendable, IDevice, Sendable

public class Compressor
extends SensorBase
implements IDevice, LiveWindowSendable

Compressor object. The Compressor object is designed to handle the operation of the compressor, pressure sensor and relay for a FIRST robot pneumatics system. The Compressor object starts a task which runs in the backround and periodically polls the pressure sensor and operates the relay that controls the compressor.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

Compressor(int pressureSwitchChannel, int compressorRelayChannel)
Compressor constructor.

Compressor(int pressureSwitchSlot, int pressureSwitchChannel, int compresssorRelaySlot, int compressorRelayChannel)
Compressor constructor.

Method Summary

boolean	enabled() Get the state of the enabled flag.
void	free() Delete the Compressor object.
boolean	getPressureSwitchValue() Get the pressure switch value.
String	getSmartDashboardType()
ITable	getTable()
void	initTable(ITable subtable) Initializes a table for this sendable object.
void	setRelayValue(Relay.Value relayValue) Operate the relay for the compressor.
void	start() Start the compressor.
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stop() Stop the compressor.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Constructor Detail

Compressor

public Compressor(int pressureSwitchSlot,
                  int pressureSwitchChannel,
                  int compresssorRelaySlot,
                  int compressorRelayChannel)

Compressor constructor. Given a fully specified relay channel and pressure switch channel, initialize the Compressor object. You MUST start the compressor by calling the start() method.

Parameters:

pressureSwitchSlot - The module that the pressure switch is attached to.

pressureSwitchChannel - The GPIO channel that the pressure switch is attached to.

compresssorRelaySlot - The module that the compressor relay is attached to.

compressorRelayChannel - The relay channel that the compressor relay is attached to.

Compressor

public Compressor(int pressureSwitchChannel,
                  int compressorRelayChannel)

Compressor constructor. Given a relay channel and pressure switch channel (both in the default digital module), initialize the Compressor object. You MUST start the compressor by calling the start() method.

Parameters:

pressureSwitchChannel - The GPIO channel that the pressure switch is attached to.

compressorRelayChannel - The relay channel that the compressor relay is attached to.

Method Detail

free

public void free()

Delete the Compressor object. Delete the allocated resources for the compressor and kill the compressor task that is polling the pressure switch.

Overrides:

free in class SensorBase

setRelayValue

public void setRelayValue(Relay.Value relayValue)

Operate the relay for the compressor. Change the value of the relay output that is connected to the compressor motor. This is only intended to be called by the internal polling thread.

Parameters:

relayValue - the value to set the relay to

getPressureSwitchValue

public boolean getPressureSwitchValue()

Get the pressure switch value. Read the pressure switch digital input.

Returns:

The current state of the pressure switch.

start

public void start()

Start the compressor. This method will allow the polling loop to actually operate the compressor. The is stopped by default and won't operate until starting it.

stop

public void stop()

Stop the compressor. This method will stop the compressor from turning on.

enabled

public boolean enabled()

Get the state of the enabled flag. Return the state of the enabled flag for the compressor and pressure switch combination.

Returns:

The state of the compressor thread's enable flag.

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

getTable

public ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

startLiveWindowMode

public void startLiveWindowMode()

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable