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, bus_id: typing.SupportsInt | typing.SupportsIndex) -> None

Constructs a PneumaticHub with the default ID (1).

Parameters:

bus_id – The bus ID.

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

Constructs a PneumaticHub.

Parameters:

• bus_id – 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 can_warning

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

property channel0_fault

Fault on channel 0.

property channel10_fault

Fault on channel 10.

property channel11_fault

Fault on channel 11.

property channel12_fault

Fault on channel 12.

property channel13_fault

Fault on channel 13.

property channel14_fault

Fault on channel 14.

property channel15_fault

Fault on channel 15.

property channel1_fault

Fault on channel 1.

property channel2_fault

Fault on channel 2.

property channel3_fault

Fault on channel 3.

property channel4_fault

Fault on channel 4.

property channel5_fault

Fault on channel 5.

property channel6_fault

Fault on channel 6.

property channel7_fault

Fault on channel 7.

property channel8_fault

Fault on channel 8.

property channel9_fault

Fault on channel 9.

property compressor_open

The compressor output has an open circuit.

property compressor_over_current

An overcurrent event occurred on the compressor output.

get_channel_fault(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 hardware_fault

The hardware on the device has malfunctioned.

property solenoid_over_current

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 can_bus_off

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

property can_warning

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

property compressor_open

The compressor output has an open circuit.

property compressor_over_current

An overcurrent event occurred on the compressor output.

property firmware_fault

The firmware on the device has malfunctioned.

property hardware_fault

The hardware on the device has malfunctioned.

property has_reset

The device has rebooted.

property solenoid_over_current

An overcurrent event occurred on a solenoid output.

class Version

Bases: pybind11_object

Version and device data received from a REV PH.

check_and_reserve_solenoids(mask: SupportsInt | SupportsIndex) → int

check_solenoid_channel(channel: SupportsInt | SupportsIndex) → bool

clear_sticky_faults() → None

Clears the sticky faults.

disable_compressor() → None

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

enable_compressor_analog(min_pressure: wpimath.units.pounds_per_square_inch, max_pressure: 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:

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

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

enable_compressor_digital() → None

enable_compressor_hybrid(min_pressure: wpimath.units.pounds_per_square_inch, max_pressure: 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:

• min_pressure – 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.

• max_pressure – 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.

fire_one_shot(index: SupportsInt | SupportsIndex) → None

get_5v_regulated_voltage() → wpimath.units.volts

Returns the current voltage of the regulated 5v supply.

Returns:

The current voltage of the 5v supply.

get_analog_voltage(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.

get_compressor() → bool

get_compressor_config_type() → wpilib._wpilib.CompressorConfigType

get_compressor_current() → wpimath.units.amperes

get_faults() → wpilib._wpilib.PneumaticHub.Faults

Returns the faults currently active on this device.

Returns:

The faults.

get_input_voltage() → wpimath.units.volts

Returns the current input voltage for this device.

Returns:

The input voltage.

get_module_number() → int

get_pressure(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.

get_pressure_switch() → bool

get_solenoid_disabled_list() → int

get_solenoids() → int

get_solenoids_total_current() → wpimath.units.amperes

Returns the total current drawn by all solenoids.

Returns:

Total current drawn by all solenoids.

get_solenoids_voltage() → wpimath.units.volts

Returns the current voltage of the solenoid power supply.

Returns:

The current voltage of the solenoid power supply.

get_sticky_faults() → wpilib._wpilib.PneumaticHub.StickyFaults

Returns the sticky faults currently active on this device.

Returns:

The sticky faults.

get_version() → wpilib._wpilib.PneumaticHub.Version

Returns the hardware and firmware versions of this device.

Returns:

The hardware and firmware versions.

make_compressor() → wpilib._wpilib.Compressor

make_double_solenoid(forward_channel: SupportsInt | SupportsIndex, reverse_channel: SupportsInt | SupportsIndex) → wpilib._wpilib.DoubleSolenoid

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

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

reserve_compressor() → bool

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

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

unreserve_compressor() → None

unreserve_solenoids(mask: SupportsInt | SupportsIndex) → None