Compressor

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

Bases: Sendable

Class for operating a compressor connected to a pneumatics module.

The module will automatically run in closed loop mode by default whenever a Solenoid object is created. For most cases, a Compressor object does not need to be instantiated or used in a robot program. This class is only required in cases where the robot program needs a more detailed status of the compressor or to enable/disable closed loop control.

Note: you cannot operate the compressor directly from this class as doing so would circumvent the safety provided by using the pressure switch and closed loop control. You can only turn off closed loop control, thereby stopping the compressor from operating.

Overloaded function.

  1. __init__(self: wpilib._wpilib.Compressor, module: int, moduleType: wpilib._wpilib.PneumaticsModuleType) -> None

Constructs a compressor for a specified module and type.

Parameters:

  • module – The module ID to use.

  • moduleType – The module type to use.

  1. __init__(self: wpilib._wpilib.Compressor, moduleType: wpilib._wpilib.PneumaticsModuleType) -> None

Constructs a compressor for a default module and specified type.

Parameters:

moduleType – The module type to use.

disable() → None

Disable the compressor.

enableAnalog(minPressure: pounds_per_square_inch, maxPressure: pounds_per_square_inch) → None

If supported by the device, 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 {@code maxPressure}. This mode is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel 0.

On CTRE PCM, this will enable digital control.

Parameters:

  • minPressure – The minimum pressure. The compressor will turn on when the pressure drops below this value.

  • maxPressure – The maximum pressure. The compressor will turn off when the pressure reaches this value.

enableDigital() → None

Enables the compressor in digital mode using the digital pressure switch. The compressor will turn on when the pressure switch indicates that the system is not full, and will turn off when the pressure switch indicates that the system is full.

enableHybrid(minPressure: pounds_per_square_inch, maxPressure: pounds_per_square_inch) → None

If supported by the device, 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. This mode is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel 0.

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.

On CTRE PCM, this will enable digital control.

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.

  • 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.

enabled() → bool

Check if compressor output is active. To (re)enable the compressor use EnableDigital() or EnableAnalog(…).

Deprecated:

To avoid confusion in thinking this (re)enables the compressor use IsEnabled().

Returns:

true if the compressor is on.

getAnalogVoltage() → volts

If supported by the device, returns the analog input voltage (on channel 0).

This function is only supported by the REV PH. On CTRE PCM, this will return 0.

Returns:

The analog input voltage, in volts.

getConfigType() → wpilib._wpilib.CompressorConfigType

Returns the active compressor configuration.

Returns:

The active compressor configuration.

getCurrent() → amperes

Get the current drawn by the compressor.

Returns:

Current drawn by the compressor.

getPressure() → pounds_per_square_inch

If supported by the device, returns the pressure read by the analog pressure sensor (on channel 0).

This function is only supported by the REV PH with the REV Analog Pressure Sensor. On CTRE PCM, this will return 0.

Returns:

The pressure read by the analog pressure sensor.

getPressureSwitchValue() → bool

Returns the state of the pressure switch.

Returns:

True if pressure switch indicates that the system is not full, otherwise false.

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None
isEnabled() → bool

Returns whether the compressor is active or not.

Returns:

true if the compressor is on - otherwise false.