Package edu.wpi.first.wpilibj.simulation

Class CTREPCMSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.CTREPCMSim

public class CTREPCMSim
extends Object

Class to control a simulated Pneumatic Control Module (PCM).

Constructor Summary

Constructors

Constructor	Description
CTREPCMSim()	Constructs for the default PCM.
CTREPCMSim(int module)	Constructs from a PCM module number (CAN ID).
CTREPCMSim(PneumaticsBase module)	Constructs from a Compressor object.

Method Summary

Modifier and Type	Method	Description
boolean	getClosedLoopEnabled()	Check whether the closed loop compressor control is active.
double	getCompressorCurrent()	Read the compressor current.
boolean	getCompressorOn()	Check if the compressor is on.
boolean	getInitialized()	Check whether the compressor has been initialized.
boolean	getPressureSwitch()	Check the value of the pressure switch.
boolean	getSolenoidOutput(int channel)	Check the solenoid output on a specific channel.
CallbackStore	registerClosedLoopEnabledCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the closed loop state changes.
CallbackStore	registerCompressorCurrentCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the compressor current changes.
CallbackStore	registerCompressorOnCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the compressor activates.
CallbackStore	registerInitializedCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the compressor is initialized.
CallbackStore	registerPressureSwitchCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the pressure switch value changes.
CallbackStore	registerSolenoidOutputCallback(int channel, NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the solenoid output on a channel changes.
void	resetData()	Reset all simulation data for this object.
void	setClosedLoopEnabled(boolean closedLoopEnabled)	Turn on/off the closed loop control of the compressor.
void	setCompressorCurrent(double compressorCurrent)	Set the compressor current.
void	setCompressorOn(boolean compressorOn)	Set whether the compressor is active.
void	setInitialized(boolean initialized)	Define whether the compressor has been initialized.
void	setPressureSwitch(boolean pressureSwitch)	Set the value of the pressure switch.
void	setSolenoidOutput(int channel, boolean solenoidOutput)	Change the solenoid output on a specific channel.

Methods inherited from class java.lang.Object

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

Constructor Details

CTREPCMSim

public CTREPCMSim()

Constructs for the default PCM.

CTREPCMSim

public CTREPCMSim(int module)

Constructs from a PCM module number (CAN ID).

Parameters:

module - module number

CTREPCMSim

public CTREPCMSim(PneumaticsBase module)

Constructs from a Compressor object.

Parameters:

module - PCM module to simulate

Method Details

registerSolenoidOutputCallback

public CallbackStore registerSolenoidOutputCallback(int channel, NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the solenoid output on a channel changes.

Parameters:

channel - the channel to monitor

callback - the callback

initialNotify - should the callback be run with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getSolenoidOutput

public boolean getSolenoidOutput(int channel)

Check the solenoid output on a specific channel.

Parameters:

channel - the channel to check

Returns:

the solenoid output

setSolenoidOutput

public void setSolenoidOutput(int channel, boolean solenoidOutput)

Change the solenoid output on a specific channel.

Parameters:

channel - the channel to check

solenoidOutput - the new solenoid output

registerInitializedCallback

public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the compressor is initialized.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getInitialized

public boolean getInitialized()

Check whether the compressor has been initialized.

Returns:

true if initialized

setInitialized

public void setInitialized(boolean initialized)

Define whether the compressor has been initialized.

Parameters:

initialized - whether the compressor is initialized

registerCompressorOnCallback

public CallbackStore registerCompressorOnCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the compressor activates.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getCompressorOn

public boolean getCompressorOn()

Check if the compressor is on.

Returns:

true if the compressor is active

setCompressorOn

public void setCompressorOn(boolean compressorOn)

Set whether the compressor is active.

Parameters:

compressorOn - the new value

registerClosedLoopEnabledCallback

public CallbackStore registerClosedLoopEnabledCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the closed loop state changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getClosedLoopEnabled

public boolean getClosedLoopEnabled()

Check whether the closed loop compressor control is active.

Returns:

true if active

setClosedLoopEnabled

public void setClosedLoopEnabled(boolean closedLoopEnabled)

Turn on/off the closed loop control of the compressor.

Parameters:

closedLoopEnabled - whether the control loop is active

registerPressureSwitchCallback

public CallbackStore registerPressureSwitchCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the pressure switch value changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getPressureSwitch

public boolean getPressureSwitch()

Check the value of the pressure switch.

Returns:

the pressure switch value

setPressureSwitch

public void setPressureSwitch(boolean pressureSwitch)

Set the value of the pressure switch.

Parameters:

pressureSwitch - the new value

registerCompressorCurrentCallback

public CallbackStore registerCompressorCurrentCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the compressor current changes.

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getCompressorCurrent

public double getCompressorCurrent()

Read the compressor current.

Returns:

the current of the compressor connected to this module

setCompressorCurrent

public void setCompressorCurrent(double compressorCurrent)

Set the compressor current.

Parameters:

compressorCurrent - the new compressor current

resetData

public void resetData()

Reset all simulation data for this object.