edu.wpi.first.wpilibj

Class Solenoid

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SolenoidBase

edu.wpi.first.wpilibj.Solenoid

All Implemented Interfaces:

Sendable

public class Solenoid
extends SolenoidBase
implements Sendable

Solenoid class for running high voltage Digital Output on the PCM.

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

Field Summary

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

m_moduleNumber

Constructor Summary

Constructors

Constructor and Description
Solenoid(int channel) Constructor using the default PCM ID (defaults to 0).
Solenoid(int moduleNumber, int channel) Constructor.

Method Summary

Modifier and Type	Method and Description
void	free() Destructor.
boolean	get() Read the current value of the solenoid.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
boolean	isBlackListed() Check if solenoid is blacklisted.
void	set(boolean on) Set the value of a solenoid.
void	setPulseDuration(double durationSeconds) Set the pulse duration in the PCM.
void	startPulse() Trigger the PCM to generate a pulse of the duration set in setPulseDuration.

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

clearAllPCMStickyFaults, clearAllPCMStickyFaults, getAll, getAll, getPCMSolenoidBlackList, getPCMSolenoidBlackList, getPCMSolenoidVoltageFault, getPCMSolenoidVoltageFault, getPCMSolenoidVoltageStickyFault, getPCMSolenoidVoltageStickyFault

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

addChild, 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

Solenoid

public Solenoid(int channel)

Constructor using the default PCM ID (defaults to 0).

Parameters:

channel - The channel on the PCM to control (0..7).

Solenoid

public Solenoid(int moduleNumber,
                int channel)

Constructor.

Parameters:

moduleNumber - The CAN ID of the PCM the solenoid is attached to.

channel - The channel on the PCM to control (0..7).

Method Detail

free

public void free()

Destructor.

Overrides:

free in class SendableBase

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.

isBlackListed

public boolean isBlackListed()

Check if solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

Returns:

If solenoid is disabled due to short.

See Also:

SolenoidBase.clearAllPCMStickyFaults()

setPulseDuration

public void setPulseDuration(double durationSeconds)

Set the pulse duration in the PCM. This is used in conjunction with the startPulse method to allow the PCM to control the timing of a pulse. The timing can be controlled in 0.01 second increments.

Parameters:

durationSeconds - The duration of the pulse, from 0.01 to 2.55 seconds.

See Also:

startPulse()

startPulse

public void startPulse()

Trigger the PCM to generate a pulse of the duration set in setPulseDuration.

See Also:

setPulseDuration(double)

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