Merge pull request #82 from mbardoeChoate/solenoid

Solenoid

Author: virtuald

run_tests.sh

@@ -29,6 +29,7 @@ BASE_TESTS="
   potentiometer-pid
   relay
   shuffleboard
+  solenoid
   stateful-autonomous
   state-space-flywheel
   tank-drive

solenoid/robot.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+
+import wpilib
+from wpilib.shuffleboard import Shuffleboard
+
+"""
+This is a sample program showing the use of the solenoid classes during operator control. Three
+buttons from a joystick will be used to control two solenoids: One button to control the position
+of a single solenoid and the other two buttons to control a double solenoid. Single solenoids can
+either be on or off, such that the air diverted through them goes through either one channel or
+the other. Double solenoids have three states: Off, Forward, and Reverse. Forward and Reverse
+divert the air through the two channels and correspond to the on and off of a single solenoid,
+but a double solenoid can also be "off", where the solenoid will remain in its default power off
+state. Additionally, double solenoids take up two channels on your PCM whereas single solenoids
+only take a single channel.
+"""
+
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self):
+        self.joystick = wpilib.Joystick(0)
+
+        # Solenoid corresponds to a single solenoid.
+        # In this case, it's connected to channel 0 of a PH with the default CAN ID.
+        self.solenoid = wpilib.Solenoid(
+            moduleType=wpilib.PneumaticsModuleType.REVPH, channel=0
+        )
+
+        # DoubleSolenoid corresponds to a double solenoid.
+        # In this case, it's connected to channels 1 and 2 of a PH with the default CAN ID.
+        self.doubleSolenoid = wpilib.DoubleSolenoid(
+            moduleType=wpilib.PneumaticsModuleType.REVPH,
+            forwardChannel=1,
+            reverseChannel=2,
+        )
+
+        # Compressor connected to a PH with a default CAN ID (1)
+        self.compressor = wpilib.Compressor(wpilib.PneumaticsModuleType.REVPH)
+
+        self.kSolenoidButton = 1
+        self.kDoubleSolenoidForwardButton = 2
+        self.kDoubleSolenoidReverseButton = 3
+        self.kCompressorButton = 4
+
+        #
+        # Publish elements to shuffleboard
+        #
+
+        tab = Shuffleboard.getTab("Pneumatics")
+        tab.add("Single Solenoid", self.solenoid)
+        tab.add("Double Solenoid", self.doubleSolenoid)
+        tab.add("Compressor", self.compressor)
+
+        # Also publish some raw data
+        tab.addDouble("PH Pressure [PSI]", lambda: self.compressor.getCurrent())
+        tab.addDouble("Compressor Current [A]", lambda: self.compressor.getCurrent())
+        tab.addBoolean("Compressor Active", lambda: self.compressor.isEnabled())
+        tab.addBoolean(
+            "Pressure Switch", lambda: self.compressor.getPressureSwitchValue()
+        )
+
+    def teleopPeriodic(self):
+        # The output of GetRawButton is true/false depending on whether
+        # the button is pressed; Set takes a boolean for whether
+        # to retract the solenoid (false) or extend it (true).
+        self.solenoid.set(self.joystick.getRawButton(self.kSolenoidButton))
+
+        # GetRawButtonPressed will only return true once per press.
+        # If a button is pressed, set the solenoid to the respective channel.
+
+        if self.joystick.getRawButtonPressed(self.kDoubleSolenoidForwardButton):
+            self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.kForward)
+        elif self.joystick.getRawButtonPressed(self.kDoubleSolenoidReverseButton):
+            self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.kReverse)
+
+        # On button press, toggle the compressor.
+        if self.joystick.getRawButtonPressed(self.kCompressorButton):
+            # Check whether the compressor is currently enabled.
+            isCompressorEnabled = self.compressor.isEnabled()
+            if isCompressorEnabled:
+                # Disable closed-loop mode on the compressor
+                self.compressor.disable()
+            else:
+                # Change the if states to select the closed-loop you want to use:
+
+                if False:
+                    # Enable the closed-lopp mode base on the digital pressure switch connect to the PCM/PH.
+                    # The switch is open when the pressure is over ~120 PSI.
+                    self.compressor.enableDigital()
+
+                if True:
+                    # Enable closed-loop mode based on the analog pressure sensor connected to the PH.
+                    # The compressor will run while the pressure reported by the sensor is in the
+                    # specified range ([70 PSI, 120 PSI] in this example).
+                    # Analog mode exists only on the PH! On the PCM, this enables digital control.
+                    self.compressor.enableAnalog(70, 120)
+
+                if False:
+                    # Enable closed-loop mode based on both the digital pressure switch AND the analog
+                    # pressure sensor connected to the PH.
+                    # The compressor will run while the pressure reported by the analog sensor is in the
+                    # specified range ([70 PSI, 120 PSI] in this example) AND the digital switch reports
+                    # that the system is not full.
+                    # Hybrid mode exists only on the PH! On the PCM, this enables digital control.
+                    self.compressor.enableHybrid(70, 120)
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)