REVPHSim

class wpilib.simulation.REVPHSim(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

Class to control a simulated Pneumatic Control Module (PCM).

Overloaded function.

  1. __init__(self: wpilib.simulation._simulation.REVPHSim) -> None

Constructs with the default PCM module number (CAN ID).

  1. __init__(self: wpilib.simulation._simulation.REVPHSim, module: int) -> None

Constructs from a PCM module number (CAN ID).

Parameters

module – module number

  1. __init__(self: wpilib.simulation._simulation.REVPHSim, pneumatics: wpilib._wpilib.PneumaticsBase) -> None

getAllSolenoidOutputs() → int

Get the current value of all solenoid outputs.

Returns

the solenoid outputs (1 bit per output)

getCompressorConfigType() → int

Check whether the closed loop compressor control is active.

Returns

compressor config type

getCompressorCurrent() → float

Read the compressor current.

Returns

the current of the compressor connected to this module

getCompressorOn() → bool

Check if the compressor is on.

Returns

true if the compressor is active

getInitialized() → bool

Check if a solenoid has been initialized on a specific channel.

Returns

true if initialized

getPressureSwitch() → bool

Check the value of the pressure switch.

Returns

the pressure switch value

getSolenoidOutput(channel: int) → bool

Check the solenoid output on a specific channel.

Parameters

channel – the channel to check

Returns

the solenoid output

registerCompressorConfigTypeCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run whenever the closed loop state changes.

Parameters

  • callback – the callback

  • initialNotify – whether the callback should be called with the initial value

Returns

the CallbackStore object associated with this callback

registerCompressorCurrentCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run whenever the compressor current changes.

Parameters

  • callback – the callback

  • initialNotify – whether to call the callback with the initial state

Returns

the CallbackStore object associated with this callback

registerCompressorOnCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run when the compressor activates.

Parameters

  • callback – the callback

  • initialNotify – whether to run the callback with the initial state

Returns

the CallbackStore object associated with this callback

registerInitializedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run when a solenoid is initialized on a channel.

Parameters

  • callback – the callback

  • initialNotify – should the callback be run with the initial state

Returns

the CallbackStore object associated with this callback

registerPressureSwitchCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run whenever the pressure switch value changes.

Parameters

  • callback – the callback

  • initialNotify – whether the callback should be called with the initial value

Returns

the CallbackStore object associated with this callback

registerSolenoidOutputCallback(channel: int, callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run when the solenoid output on a channel changes.

Parameters

  • channel – the channel to monitor

  • callback – the callback

  • initialNotify – should the callback be run with the initial value

Returns

the CallbackStore object associated with this callback

resetData() → None

Reset all simulation data for this object.

setAllSolenoidOutputs(outputs: int) → None

Change all of the solenoid outputs.

Parameters

outputs – the new solenoid outputs (1 bit per output)

setCompressorConfigType(compressorConfigType: int) → None

Turn on/off the closed loop control of the compressor.

Parameters

compressorConfigType – compressor config type

setCompressorCurrent(compressorCurrent: float) → None

Set the compressor current.

Parameters

compressorCurrent – the new compressor current

setCompressorOn(compressorOn: bool) → None

Set whether the compressor is active.

Parameters

compressorOn – the new value

setInitialized(solenoidInitialized: bool) → None

Define whether a solenoid has been initialized on a specific channel.

Parameters

solenoidInitialized – is there a solenoid initialized on that channel

setPressureSwitch(pressureSwitch: bool) → None

Set the value of the pressure switch.

Parameters

pressureSwitch – the new value

setSolenoidOutput(channel: int, solenoidOutput: bool) → None

Change the solenoid output on a specific channel.

Parameters

  • channel – the channel to check

  • solenoidOutput – the new solenoid output