PneumaticsBase¶
- class wpilib.PneumaticsBase¶
Bases:
pybind11_object
- checkAndReserveSolenoids(mask: int) int ¶
Check to see if the masked solenoids can be reserved, and if not reserve them.
- Parameters:
mask – The bitmask of solenoids to reserve
- Returns:
0 if successful; mask of solenoids that couldn’t be allocated otherwise
- checkSolenoidChannel(channel: int) bool ¶
Check if a solenoid channel is valid.
- Parameters:
channel – Channel to check
- Returns:
True if channel exists
- disableCompressor() None ¶
Disables the compressor.
- enableCompressorAnalog(minPressure: pounds_per_square_inch, maxPressure: pounds_per_square_inch) None ¶
If supported by the device, enables the compressor in analog mode. This mode uses an analog pressure sensor connected to analog channel 0 to cycle the compressor. The compressor will turn on when the pressure drops below
minPressure
and will turn off when the pressure reaches {@code maxPressure}. This mode is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel 0.On CTRE PCM, this will enable digital control.
- Parameters:
minPressure – The minimum pressure. The compressor will turn on when the pressure drops below this value.
maxPressure – The maximum pressure. The compressor will turn off when the pressure reaches this value.
- enableCompressorDigital() None ¶
Enables the compressor in digital mode using the digital pressure switch. The compressor will turn on when the pressure switch indicates that the system is not full, and will turn off when the pressure switch indicates that the system is full.
- enableCompressorHybrid(minPressure: pounds_per_square_inch, maxPressure: pounds_per_square_inch) None ¶
If supported by the device, enables the compressor in hybrid mode. This mode uses both a digital pressure switch and an analog pressure sensor connected to analog channel 0 to cycle the compressor. This mode is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel 0.
The compressor will turn on when a both:
The digital pressure switch indicates the system is not full AND
The analog pressure sensor indicates that the pressure in the system
is below the specified minimum pressure.
The compressor will turn off when a either:
The digital pressure switch is disconnected or indicates that the system
is full OR - The pressure detected by the analog sensor is greater than the specified maximum pressure.
On CTRE PCM, this will enable digital control.
- Parameters:
minPressure – The minimum pressure. The compressor will turn on when the pressure drops below this value and the pressure switch indicates that the system is not full.
maxPressure – The maximum pressure. The compressor will turn off when the pressure reaches this value or the pressure switch is disconnected or indicates that the system is full.
- fireOneShot(index: int) None ¶
Fire a single solenoid shot.
- Parameters:
index – solenoid index
- getAnalogVoltage(channel: int) volts ¶
If supported by the device, returns the raw voltage of the specified analog input channel.
This function is only supported by the REV PH. On CTRE PCM, this will return 0.
- Parameters:
channel – The analog input channel to read voltage from.
- Returns:
The voltage of the specified analog input channel.
- getCompressor() bool ¶
Returns whether the compressor is active or not.
- Returns:
True if the compressor is on - otherwise false.
- getCompressorConfigType() wpilib._wpilib.CompressorConfigType ¶
Returns the active compressor configuration.
- Returns:
The active compressor configuration.
- getCompressorCurrent() amperes ¶
Returns the current drawn by the compressor.
- Returns:
The current drawn by the compressor.
- static getDefaultForType(moduleType: wpilib._wpilib.PneumaticsModuleType) int ¶
For internal use to get the default for a specific type.
- Parameters:
moduleType – module type
- Returns:
module default
- static getForType(module: int, moduleType: wpilib._wpilib.PneumaticsModuleType) wpilib._wpilib.PneumaticsBase ¶
For internal use to get a module for a specific type.
- Parameters:
module – module number
moduleType – module type
- Returns:
module
- getModuleNumber() int ¶
Get module number for this module.
- Returns:
module number
- getPressure(channel: int) pounds_per_square_inch ¶
If supported by the device, returns the pressure read by an analog pressure sensor on the specified analog input channel.
This function is only supported by the REV PH. On CTRE PCM, this will return 0.
- Parameters:
channel – The analog input channel to read pressure from.
- Returns:
The pressure read by an analog pressure sensor on the specified analog input channel.
- getPressureSwitch() bool ¶
Returns the state of the pressure switch.
- Returns:
True if pressure switch indicates that the system is full, otherwise false.
- getSolenoidDisabledList() int ¶
Get a bitmask of disabled solenoids.
- Returns:
bitmask of disabled solenoids
- getSolenoids() int ¶
Gets a bitmask of solenoid values.
- Returns:
values
- makeCompressor() wpilib._wpilib.Compressor ¶
- makeDoubleSolenoid(forwardChannel: int, reverseChannel: int) wpilib._wpilib.DoubleSolenoid ¶
- makeSolenoid(channel: int) wpilib._wpilib.Solenoid ¶
- reserveCompressor() bool ¶
- setOneShotDuration(index: int, duration: seconds) None ¶
Set the duration for a single solenoid shot.
- Parameters:
index – solenoid index
duration – shot duration
- setSolenoids(mask: int, values: int) None ¶
Sets solenoids on a pneumatics module.
- Parameters:
mask – mask
values – values
- unreserveCompressor() None ¶
- unreserveSolenoids(mask: int) None ¶
Unreserve the masked solenoids.
- Parameters:
mask – The bitmask of solenoids to unreserve