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Added component for pneumatics control module - #28
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Added the `PneumaticsModule`, which represents the Pneumatics Control Module (PCM) on the 2015+ hardware and which uses the WPILib `Compressor` class for the hardware-based implementation. This commit also adds a mock implementation that behaves like the actual hardware-based implementation, except that the low-pressure switch can be manually triggered and untriggered, and the compressor faults can be manually tripped (they do reset immediately but do alter the sticky faults correctly). When the compressor runs (whether in auto or manual mode), the current sensor shows a constant 10A reading (which should be similar to what the actual Viair 090C Air Compressor consumes. When the compressor is off (for any reason), the current is set to 0. This change supports multiple PCMs on a single robot, since one of the hardware-based factory methods takes the CAN identifier of the PCM.
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@granjef3: please review to see if this has everything you need for the PCM. |
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Looks great @rhauch. As far as I know, this implements all of the PCM features. |
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@granjef3, thanks for the review. |
rhauch
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Oct 27, 2015
Added component for pneumatics control module
CarlinWilliamson
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Jun 30, 2020
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Added the
PneumaticsModule, which represents the Pneumatics Control Module (PCM) on the 2015+ hardware and which uses the WPILibCompressorclass for the hardware-based implementation. This commit also adds a mock implementation that behaves like the actual hardware-based implementation, except that the low-pressure switch can be manually triggered and untriggered, and the compressor faults can be manually tripped (they do reset immediately but do alter the sticky faults correctly). When the compressor runs (whether in auto or manual mode), the current sensor shows a constant 10A reading (which should be similar to what the actual Viair 090C Air Compressor consumes. When the compressor is off (for any reason), the current is set to 0.This change does support using 0 or more PCMs on a single robot, since one of the hardware-based factory methods takes the CAN identifier of the PCM.
Closes #26