# validated: 2018-01-01 EN f9bece2ffbf7 edu/wpi/first/wpilibj/SensorBase.java
#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2016. 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
from .sendablebase import SendableBase
__all__ = ["SensorBase"]
[docs]class SensorBase(SendableBase):
"""Base class for all sensors
Stores most recent status information as well as containing utility
functions for checking channels and error processing.
"""
#: Ticks per microsecond
kSystemClockTicksPerMicrosecond = hal.getSystemClockTicksPerMicrosecond()
#: Number of digital channels per roboRIO
kDigitalChannels = hal.getNumDigitalChannels()
#: Number of analog input channels per roboRIO
kAnalogInputChannels = hal.getNumAnalogInputs()
#: Number of analog output channels per roboRIO
kAnalogOutputChannels = hal.getNumAnalogOutputs()
#: Number of solenoid channels per module
kSolenoidChannels = hal.getNumSolenoidChannels()
#: Number of PWM channels per roboRIO
kPwmChannels = hal.getNumPWMChannels()
#: Number of relay channels per roboRIO
kRelayChannels = hal.getNumRelayHeaders()
#: Number of power distribution channels per PDP
kPDPChannels = hal.getNumPDPChannels()
#: Number of power distribution channels per PDP
kPDPModules = hal.getNumPDPModules()
#: Number of PCM modules
kPCMModules = hal.getNumPCMModules()
#: Default solenoid module
defaultSolenoidModule = 0
[docs] @staticmethod
def setDefaultSolenoidModule(moduleNumber):
"""Set the default location for the Solenoid module.
:param moduleNumber: The number of the solenoid module to use.
"""
SensorBase.checkSolenoidModule(moduleNumber)
SensorBase.defaultSolenoidModule = moduleNumber
[docs] @staticmethod
def checkSolenoidModule(moduleNumber):
"""Verify that the solenoid module is correct.
:param moduleNumber: The solenoid module module number to check.
"""
if not hal.checkSolenoidModule(moduleNumber):
raise IndexError("Requested solenoid module number %d is out of range [0, %d)." % (moduleNumber, SensorBase.kPCMModules))
[docs] @staticmethod
def checkDigitalChannel(channel):
"""Check that the digital channel number is valid.
Verify that the channel number is one of the legal channel numbers.
Channel numbers are 0-based.
:param channel: The channel number to check.
"""
if not hal.checkDIOChannel(channel):
raise IndexError("Requested digital channel number %d is out of range [0, %d)." % (channel, SensorBase.kDigitalChannels))
[docs] @staticmethod
def checkRelayChannel(channel):
"""Check that the digital channel number is valid.
Verify that the channel number is one of the legal channel numbers.
Channel numbers are 0-based.
:param channel: The channel number to check.
"""
if not hal.checkRelayChannel(channel):
raise IndexError("Requested relay channel number %d is out of range [0, %d)." % (channel, SensorBase.kRelayChannels))
[docs] @staticmethod
def checkPWMChannel(channel):
"""Check that the digital channel number is valid.
Verify that the channel number is one of the legal channel numbers.
Channel numbers are 0-based.
:param channel: The channel number to check.
"""
if not hal.checkPWMChannel(channel):
raise IndexError("Requested PWM channel number %d is out of range [0, %d)." % (channel, SensorBase.kPwmChannels))
[docs] @staticmethod
def checkAnalogOutputChannel(channel):
"""Check that the analog input number is value.
Verify that the analog input number is one of the legal channel
numbers. Channel numbers are 0-based.
:param channel: The channel number to check.
"""
if not hal.checkAnalogOutputChannel(channel):
raise IndexError("Requested analog output channel number %d is out of range [0, %d)." % (channel, SensorBase.kAnalogOutputChannels))
[docs] @staticmethod
def checkSolenoidChannel(channel):
"""Verify that the solenoid channel number is within limits. Channel
numbers are 0-based.
:param channel: The channel number to check.
"""
if not hal.checkSolenoidChannel(channel):
raise IndexError("Requested solenoid channel number %d is out of range [0, %d)." % (channel, SensorBase.kSolenoidChannels))
[docs] @staticmethod
def checkPDPChannel(channel):
"""Verify that the power distribution channel number is within limits.
Channel numbers are 0-based.
:param channel: The channel number to check.
"""
if not hal.checkPDPChannel(channel):
raise IndexError("Requested PDP channel number %d is out of range [0, %d)." % (channel, SensorBase.kPDPChannels))
[docs] @staticmethod
def checkPDPModule(module):
"""Verify that the power distribution module number is within limits.
Module numbers are 0-based.
:param module: The module number to check.
"""
if not hal.checkPDPModule(module):
raise IndexError("Requested PDP module number %d is out of range [0, %d)." % (module, SensorBase.kPDPModules))
[docs] @staticmethod
def getDefaultSolenoidModule():
"""Get the number of the default solenoid module.
:returns: The number of the default solenoid module.
"""
return SensorBase.defaultSolenoidModule