PneumaticHub

class wpilib.PneumaticHub(*args, **kwargs)

Bases: PneumaticsBase

Module class for controlling a REV Robotics Pneumatic Hub.

Overloaded function.

1. __init__(self: wpilib._wpilib.PneumaticHub, busId: typing.SupportsInt | typing.SupportsIndex) -> None

Constructs a PneumaticHub with the default ID (1).

Parameters:

busId – The bus ID.

2. __init__(self: wpilib._wpilib.PneumaticHub, busId: typing.SupportsInt | typing.SupportsIndex, module: typing.SupportsInt | typing.SupportsIndex) -> None

Constructs a PneumaticHub.

Parameters:

• busId – The bus ID.

• module – module number to construct

class Faults

Bases: pybind11_object

Faults for a REV PH. These faults are only active while the condition is active.

property brownout

The input voltage is below the minimum voltage.

property canWarning

A warning was raised by the device’s CAN controller.

property channel0Fault

Fault on channel 0.

property channel10Fault

Fault on channel 10.

property channel11Fault

Fault on channel 11.

property channel12Fault

Fault on channel 12.

property channel13Fault

Fault on channel 13.

property channel14Fault

Fault on channel 14.

property channel15Fault

Fault on channel 15.

property channel1Fault

Fault on channel 1.

property channel2Fault

Fault on channel 2.

property channel3Fault

Fault on channel 3.

property channel4Fault

Fault on channel 4.

property channel5Fault

Fault on channel 5.

property channel6Fault

Fault on channel 6.

property channel7Fault

Fault on channel 7.

property channel8Fault

Fault on channel 8.

property channel9Fault

Fault on channel 9.

property compressorOpen

The compressor output has an open circuit.

property compressorOverCurrent

An overcurrent event occurred on the compressor output.

getChannelFault(channel: SupportsInt | SupportsIndex) → bool

Gets whether there is a fault at the specified channel.

Parameters:

channel – Channel to check for faults.

Returns:

True if a a fault exists at the channel, otherwise false. @throws A ChannelIndexOutOfRange error if the provided channel is outside of the range supported by the hardware.

property hardwareFault

The hardware on the device has malfunctioned.

property solenoidOverCurrent

An overcurrent event occurred on a solenoid output.

class StickyFaults

Bases: pybind11_object

Sticky faults for a REV PH. These faults will remain active until they are reset by the user.

property brownout

The input voltage is below the minimum voltage.

property canBusOff

The device’s CAN controller experienced a “Bus Off” event.

property canWarning

A warning was raised by the device’s CAN controller.

property compressorOpen

The compressor output has an open circuit.

property compressorOverCurrent

An overcurrent event occurred on the compressor output.

property firmwareFault

The firmware on the device has malfunctioned.

property hardwareFault

The hardware on the device has malfunctioned.

property hasReset

The device has rebooted.

property solenoidOverCurrent

An overcurrent event occurred on a solenoid output.

class Version

Bases: pybind11_object

Version and device data received from a REV PH.

checkAndReserveSolenoids(mask: SupportsInt | SupportsIndex) → int

checkSolenoidChannel(channel: SupportsInt | SupportsIndex) → bool

clearStickyFaults() → None

Clears the sticky faults.

disableCompressor() → None

Disables the compressor. The compressor will not turn on until EnableCompressorDigital(), EnableCompressorAnalog(), or EnableCompressorHybrid() are called.

enableCompressorAnalog(minPressure: wpimath.units.pounds_per_square_inch, maxPressure: wpimath.units.pounds_per_square_inch) → None

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 maxPressure.

Parameters:

• minPressure – The minimum pressure. The compressor will turn on when the pressure drops below this value. Range 0 - 120 PSI.

• maxPressure – The maximum pressure. The compressor will turn off when the pressure reaches this value. Range 0 - 120 PSI. Must be larger then minPressure.

enableCompressorDigital() → None

enableCompressorHybrid(minPressure: wpimath.units.pounds_per_square_inch, maxPressure: wpimath.units.pounds_per_square_inch) → None

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.

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.

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. Range 0 - 120 PSI.

• 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. Range 0 - 120 PSI. Must be larger then minPressure.

fireOneShot(index: SupportsInt | SupportsIndex) → None

get5VRegulatedVoltage() → wpimath.units.volts

Returns the current voltage of the regulated 5v supply.

Returns:

The current voltage of the 5v supply.

getAnalogVoltage(channel: SupportsInt | SupportsIndex) → wpimath.units.volts

Returns the raw voltage of the specified analog input channel.

Parameters:

channel – The analog input channel to read voltage from.

Returns:

The voltage of the specified analog input channel.

getCompressor() → bool

getCompressorConfigType() → wpilib._wpilib.CompressorConfigType

getCompressorCurrent() → wpimath.units.amperes

getFaults() → wpilib._wpilib.PneumaticHub.Faults

Returns the faults currently active on this device.

Returns:

The faults.

getInputVoltage() → wpimath.units.volts

Returns the current input voltage for this device.

Returns:

The input voltage.

getModuleNumber() → int

getPressure(channel: SupportsInt | SupportsIndex) → wpimath.units.pounds_per_square_inch

Returns the pressure read by an analog pressure sensor on the specified analog input channel.

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

getSolenoidDisabledList() → int

getSolenoids() → int

getSolenoidsTotalCurrent() → wpimath.units.amperes

Returns the total current drawn by all solenoids.

Returns:

Total current drawn by all solenoids.

getSolenoidsVoltage() → wpimath.units.volts

Returns the current voltage of the solenoid power supply.

Returns:

The current voltage of the solenoid power supply.

getStickyFaults() → wpilib._wpilib.PneumaticHub.StickyFaults

Returns the sticky faults currently active on this device.

Returns:

The sticky faults.

getVersion() → wpilib._wpilib.PneumaticHub.Version

Returns the hardware and firmware versions of this device.

Returns:

The hardware and firmware versions.

makeCompressor() → wpilib._wpilib.Compressor

makeDoubleSolenoid(forwardChannel: SupportsInt | SupportsIndex, reverseChannel: SupportsInt | SupportsIndex) → wpilib._wpilib.DoubleSolenoid

makeSolenoid(channel: SupportsInt | SupportsIndex) → wpilib._wpilib.Solenoid

reportUsage(device: str, data: str) → None

reserveCompressor() → bool

setOneShotDuration(index: SupportsInt | SupportsIndex, duration: wpimath.units.seconds) → None

setSolenoids(mask: SupportsInt | SupportsIndex, values: SupportsInt | SupportsIndex) → None

unreserveCompressor() → None

unreserveSolenoids(mask: SupportsInt | SupportsIndex) → None