#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
#----------------------------------------------------------------------------
import hal
import warnings
from .livewindow import LiveWindow
from .resource import Resource
from .sensorbase import SensorBase
from .solenoidbase import SolenoidBase
__all__ = ["DoubleSolenoid"]
[docs]class DoubleSolenoid(SolenoidBase):
"""Controls 2 channels of high voltage Digital Output.
The DoubleSolenoid class is typically used for pneumatics solenoids that
have two positions controlled by two separate channels.
.. not_implemented: initSolenoid
"""
[docs] class Value:
"""Possible values for a DoubleSolenoid."""
kOff = 0
kForward = 1
kReverse = 2
def __init__(self, *args, **kwargs):
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- forwardChannel, reverseChannel
- moduleNumber, forwardChannel, reverseChannel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The module number of the solenoid module to use.
:param forwardChannel: The forward channel number on the PCM (0..7)
:param reverseChannel: The reverse channel number on the PCM (0..7)
"""
# keyword arguments
forwardChannel = kwargs.pop("forwardChannel", None)
reverseChannel = kwargs.pop("reverseChannel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn("unknown keyword arguments: %s" % kwargs.keys(),
RuntimeWarning)
# positional arguments
if len(args) == 2:
forwardChannel, reverseChannel = args
elif len(args) == 3:
moduleNumber, forwardChannel, reverseChannel = args
elif len(args) != 0:
raise ValueError("don't know how to handle %d positional arguments" % len(args))
if moduleNumber is None:
moduleNumber = SensorBase.getDefaultSolenoidModule()
if forwardChannel is None:
raise ValueError("must specify forward channel")
if reverseChannel is None:
raise ValueError("must specify reverse channel")
SensorBase.checkSolenoidModule(moduleNumber)
SensorBase.checkSolenoidChannel(forwardChannel)
SensorBase.checkSolenoidChannel(reverseChannel)
super().__init__(moduleNumber)
self.forwardChannel = forwardChannel
self.reverseChannel = reverseChannel
try:
self.allocated.allocate(self, forwardChannel)
except IndexError as e:
raise IndexError("Solenoid channel %d on module %d is already allocated" % (forwardChannel, moduleNumber)) from e
try:
self.allocated.allocate(self, reverseChannel)
except IndexError as e:
raise IndexError("Solenoid channel %d on module %d is already allocated" % (reverseChannel, moduleNumber)) from e
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
self.forwardPort = self.ports[forwardChannel]
self.reversePort = self.ports[reverseChannel]
hal.HALReport(hal.HALUsageReporting.kResourceType_Solenoid,
forwardChannel, moduleNumber)
hal.HALReport(hal.HALUsageReporting.kResourceType_Solenoid,
reverseChannel, moduleNumber)
LiveWindow.addActuatorModuleChannel("DoubleSolenoid", moduleNumber,
forwardChannel, self)
[docs] def free(self):
"""Mark the solenoid as freed."""
self.allocated.free(self.forwardChannel)
self.allocated.free(self.reverseChannel)
[docs] def set(self, value):
"""Set the value of a solenoid.
:param value: The value to set (Off, Forward, Reverse)
:type value: :class:`DoubleSolenoid.Value`
"""
if value == self.Value.kOff:
hal.setSolenoid(self.forwardPort, False)
hal.setSolenoid(self.reversePort, False)
elif value == self.Value.kForward:
hal.setSolenoid(self.reversePort, False)
hal.setSolenoid(self.forwardPort, True)
elif value == self.Value.kReverse:
hal.setSolenoid(self.forwardPort, False)
hal.setSolenoid(self.reversePort, True)
else:
raise ValueError("Invalid argument '%s'" % value)
[docs] def get(self):
"""Read the current value of the solenoid.
:returns: The current value of the solenoid.
:rtype: :class:`DoubleSolenoid.Value`
"""
if hal.getSolenoid(self.forwardPort):
return self.Value.kForward
if hal.getSolenoid(self.reversePort):
return self.Value.kReverse
return self.Value.kOff
[docs] def isFwdSolenoidBlackListed(self):
"""
Check if the forward solenoid is blacklisted.
If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are
cleared. See :meth:`clearAllPCMStickyFaults`
:returns: If solenoid is disabled due to short.
"""
blacklist = self.getPCMSolenoidBlackList()
return (blacklist & (1 << self.forwardChannel)) != 0
[docs] def isRevSolenoidBlackListed(self):
"""
Check if the reverse solenoid is blacklisted.
If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are
cleared. See :meth:`clearAllPCMStickyFaults`
:returns: If solenoid is disabled due to short.
"""
blacklist = self.getPCMSolenoidBlackList()
return (blacklist & (1 << self.reverseChannel)) != 0
# Live Window code, only does anything if live window is activated.
def getSmartDashboardType(self):
return "Double Solenoid"
def updateTable(self):
table = self.getTable()
if table is not None:
#TODO: this is bad
val = self.get()
if val == self.Value.kForward:
table.putString("Value", "Forward")
elif val == self.Value.kReverse:
table.putString("Value", "Reverse")
else:
table.putString("Value", "Off")
def valueChanged(self, itable, key, value, bln):
#TODO: this is bad also
if value == "Reverse":
self.set(self.Value.kReverse)
elif value == "Forward":
self.set(self.Value.kForward)
else:
self.set(self.Value.kOff)
def startLiveWindowMode(self):
self.set(self.Value.kOff) # Stop for safety
super().startLiveWindowMode()
def stopLiveWindowMode(self):
super().stopLiveWindowMode()
self.set(self.Value.kOff) # Stop for safety