Package edu.wpi.first.wpilibj

Class Compressor

java.lang.Object
edu.wpi.first.wpilibj.Compressor
All Implemented Interfaces:
Sendable, AutoCloseable
public class Compressor
extends Object
implements Sendable, AutoCloseable
Class for operating a compressor connected to a pneumatics module. The module 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 Description
    Compressor​(int module, PneumaticsModuleType moduleType)
    Constructs a compressor for a specified module and type.
    Compressor​(PneumaticsModuleType moduleType)
    Constructs a compressor for a default module and specified type.

  • Method Summary

    Modifier and Type Method Description
    void close()  
    void disable()
    Disable the compressor.
    void enableAnalog​(double minPressure, double maxPressure)
    Enable compressor closed loop control using analog input.
    boolean enabled()
    Get the status of the compressor.
    void enableDigital()
    Enable compressor closed loop control using digital input.
    void enableHybrid​(double minPressure, double maxPressure)
    Enable compressor closed loop control using hybrid input.
    double getAnalogVoltage()
    Query the analog input voltage (on channel 0) (if supported).
    CompressorConfigType getConfigType()
    Gets the current operating mode of the Compressor.
    double getCurrent()
    Get the current being used by the compressor.
    double getPressure()
    Query the analog sensor pressure (on channel 0) (if supported).
    boolean getPressureSwitchValue()
    Get the pressure switch value.
    void initSendable​(SendableBuilder builder)
    Initializes this Sendable object.
    void start()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use enableDigital() instead.
    void stop()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use disable() instead.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

  • Method Details

    • close

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

    • start

      @Deprecated(since="2022", forRemoval=true) public void start()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use enableDigital() instead.
      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

      @Deprecated(since="2022", forRemoval=true) public void stop()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use disable() instead.
      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

    • getCurrent

      public double getCurrent()
      Get the current being used by the compressor.
      Returns:
      current consumed by the compressor in amps

    • getAnalogVoltage

      public double getAnalogVoltage()
      Query the analog input voltage (on channel 0) (if supported).
      Returns:
      The analog input voltage, in volts

    • getPressure

      public double getPressure()
      Query the analog sensor pressure (on channel 0) (if supported). Note this is only for use with the REV Analog Pressure Sensor.
      Returns:
      The analog sensor pressure, in PSI

    • disable

      public void disable()
      Disable the compressor.

    • enableDigital

      public void enableDigital()
      Enable compressor closed loop control using digital input.

    • enableAnalog

      public void enableAnalog​(double minPressure, double maxPressure)
      Enable compressor closed loop control using analog input. Note this is only for use with the REV Analog Pressure Sensor.

      On CTRE PCM, this will enable digital control.

      Parameters:
      minPressure - The minimum pressure in PSI to enable compressor
      maxPressure - The maximum pressure in PSI to disable compressor

    • enableHybrid

      public void enableHybrid​(double minPressure, double maxPressure)
      Enable compressor closed loop control using hybrid input. Note this is only for use with the REV Analog Pressure Sensor.

      On CTRE PCM, this will enable digital control.

      Parameters:
      minPressure - The minimum pressure in PSI to enable compressor
      maxPressure - The maximum pressure in PSI to disable compressor

    • getConfigType

      public CompressorConfigType getConfigType()
      Gets the current operating mode of the Compressor.
      Returns:
      true if compressor is operating on closed-loop mode

    • 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