edu.wpi.first.wpilibj

Class Compressor

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.Compressor

All Implemented Interfaces:

Sendable

public class Compressor
extends SendableBase
implements Sendable

Class for operating a compressor connected to a PCM (Pneumatic Control Module). The PCM will automatically run in closed loop mode by default whenever a Solenoid object is created. For most cases, a Compressor object does not need to be instantiated or used in a robot program. This class is only required in cases where the robot program needs a more detailed status of the compressor or to enable/disable closed loop control.

Note: you cannot operate the compressor directly from this class as doing so would circumvent the safety provided by using the pressure switch and closed loop control. You can only turn off closed loop control, thereby stopping the compressor from operating.

Constructor Summary

Constructors

Constructor and Description
Compressor() Makes a new instance of the compressor using the default PCM ID of 0.
Compressor(int module) Makes a new instance of the compressor using the provided CAN device ID.

Method Summary

Modifier and Type	Method and Description
void	clearAllPCMStickyFaults() Clear ALL sticky faults inside PCM that Compressor is wired to.
boolean	enabled() Get the status of the compressor.
boolean	getClosedLoopControl() Gets the current operating mode of the PCM.
double	getCompressorCurrent() Get the current being used by the compressor.
boolean	getCompressorCurrentTooHighFault() If PCM is in fault state : Compressor Drive is disabled due to compressor current being too high.
boolean	getCompressorCurrentTooHighStickyFault() If PCM sticky fault is set : Compressor is disabled due to compressor current being too high.
boolean	getCompressorNotConnectedFault() If PCM is in fault state : Compressor does not appear to be wired, i.e.
boolean	getCompressorNotConnectedStickyFault() If PCM sticky fault is set : Compressor does not appear to be wired, i.e.
boolean	getCompressorShortedFault() If PCM is in fault state : Compressor output appears to be shorted.
boolean	getCompressorShortedStickyFault() If PCM sticky fault is set : Compressor output appears to be shorted.
boolean	getPressureSwitchValue() Get the pressure switch value.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
void	setClosedLoopControl(boolean on) Set the PCM in closed loop control mode.
void	start() Start the compressor running in closed loop control mode.
void	stop() Stop the compressor from running in closed loop control mode.

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

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Constructor Detail

Compressor

public Compressor(int module)

Makes a new instance of the compressor using the provided CAN device ID. Use this constructor when you have more than one PCM.

Parameters:

module - The PCM CAN device ID (0 - 62 inclusive)

Compressor

public Compressor()

Makes a new instance of the compressor using the default PCM ID of 0.

Additional modules can be supported by making a new instance and specifying the CAN ID.

Method Detail

start

public void start()

Start the compressor running in closed loop control mode.

Use the method in cases where you would like to manually stop and start the compressor for applications such as conserving battery or making sure that the compressor motor doesn't start during critical operations.

stop

public void stop()

Stop the compressor from running in closed loop control mode.

Use the method in cases where you would like to manually stop and start the compressor for applications such as conserving battery or making sure that the compressor motor doesn't start during critical operations.

enabled

public boolean enabled()

Get the status of the compressor.

Returns:

true if the compressor is on

getPressureSwitchValue

public boolean getPressureSwitchValue()

Get the pressure switch value.

Returns:

true if the pressure is low

getCompressorCurrent

public double getCompressorCurrent()

Get the current being used by the compressor.

Returns:

current consumed by the compressor in amps

setClosedLoopControl

public void setClosedLoopControl(boolean on)

Set the PCM in closed loop control mode.

Parameters:

on - if true sets the compressor to be in closed loop control mode (default)

getClosedLoopControl

public boolean getClosedLoopControl()

Gets the current operating mode of the PCM.

Returns:

true if compressor is operating on closed-loop mode

getCompressorCurrentTooHighFault

public boolean getCompressorCurrentTooHighFault()

If PCM is in fault state : Compressor Drive is disabled due to compressor current being too high.

Returns:

true if PCM is in fault state.

getCompressorCurrentTooHighStickyFault

public boolean getCompressorCurrentTooHighStickyFault()

If PCM sticky fault is set : Compressor is disabled due to compressor current being too high.

Returns:

true if PCM sticky fault is set.

getCompressorShortedStickyFault

public boolean getCompressorShortedStickyFault()

If PCM sticky fault is set : Compressor output appears to be shorted.

Returns:

true if PCM sticky fault is set.

getCompressorShortedFault

public boolean getCompressorShortedFault()

If PCM is in fault state : Compressor output appears to be shorted.

Returns:

true if PCM is in fault state.

getCompressorNotConnectedStickyFault

public boolean getCompressorNotConnectedStickyFault()

If PCM sticky fault is set : Compressor does not appear to be wired, i.e. compressor is not drawing enough current.

Returns:

true if PCM sticky fault is set.

getCompressorNotConnectedFault

public boolean getCompressorNotConnectedFault()

If PCM is in fault state : Compressor does not appear to be wired, i.e. compressor is not drawing enough current.

Returns:

true if PCM is in fault state.

clearAllPCMStickyFaults

public void clearAllPCMStickyFaults()

Clear ALL sticky faults inside PCM that Compressor is wired to.

If a sticky fault is set, then it will be persistently cleared. The compressor might momentarily disable while the flags are being cleared. Doo not call this method too frequently, otherwise normal compressor functionality may be prevented.

If no sticky faults are set then this call will have no effect.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder