Compressor class added

src/main/java/frc/team3128/commands/CmdElevator.java

@@ -0,0 +1,42 @@
+package frc.team3128.commands;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX;
+import edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+import edu.wpi.first.wpilibj2.command.PIDSubsystem;
+
+public class CmdElevator extends PIDSubsystem{
+
+    private PIDController m_controller;
+
+    public CmdElevator(PIDController controller) {
+        super(controller); //add num later on
+        m_controller = controller;
+
+    }
+
+    // important ID elements
+    public static final double Bottom = 1.00;
+    public static final double Stow = 1.00;
+    public static final double Table_Height = 1.00;
+
+    private AnalogPotentiometer pot;
+    private PWMTalonSRX motor;
+
+    // @Override
+    // public void initialize(){
+
+    // }
+    protected void useOutput(double output, double setpoint) {
+        // TODO Auto-generated method stub
+
+    }
+
+    @Override
+    protected double getMeasurement() {
+        // TODO Auto-generated method stub
+        return pot.get();
+    }
+
+}

src/main/java/frc/team3128/subsystems/Compressor.java

@@ -0,0 +1,118 @@
+package frc.team3128.subsystems;
+//import javax.management.DescriptorKey;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.CompressorConfigType;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+//import frc.team3128.Constants.CompressorConstants;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.util.AllocationException;
+
+
+public class Compressor extends Object implements AutoCloseable, Sendable {
+
+    private PneumaticsBase m_module;
+    // private boolean pressureSwitch = false;
+    // public boolean enabled = true;
+    // public boolean closedLoop = true;
+
+
+
+    public Compressor(int mod, PneumaticsModuleType modType){
+        // module = mod;
+        // m_module = modType;
+
+        m_module = PneumaticsBase.getForType(mod, modType);
+
+        if (!m_module.reserveCompressor()){
+            m_module.close();
+            throw new AllocationException("Compressor already allocated");
+        }
+
+        m_module.enableCompressorDigital();
+
+        HAL.report(tResourceType.kResourceType_Compressor, mod + 1);
+        SendableRegistry.addLW(this, "Compressor", mod);
+    }
+
+    public Compressor(PneumaticsModuleType modType){
+        this(PneumaticsBase.getDefaultForType(modType), modType);
+    }
+
+    // public void close(PneumaticsModuleType mod) throws Exception{
+    //     Compressor com = new Compressor(mod);
+    //     com.close();
+    // }
+
+
+
+    public void close(){ //throws exception needed?
+        m_module.close();
+        SendableRegistry.remove(this);
+        m_module.unreserveCompressor();
+        m_module = null;
+    }
+
+    @Deprecated(since="2022", forRemoval = true)
+    public void stop(){
+        //setClosedLoop(false);
+        disable(); //defined later
+    }
+
+    @Deprecated(since="2022", forRemoval = true)
+    public void start(){
+        //setClosedLoop(true);
+        enableDigital(); //defined later
+    }
+
+    public boolean enabled(){
+        return m_module.getCompressor();
+    }
+
+    public boolean getPressureSwitchValue(){
+        return m_module.getPressureSwitch();
+    }
+
+    public double getCurrent(){
+        return m_module.getCompressorCurrent();
+    }
+
+    public double getAnalogVoltage(){
+        return m_module.getAnalogVoltage(0);
+    }
+
+    public double getPressure(){
+        return m_module.getPressure(0);
+    }
+
+    public void disable(){
+        m_module.disableCompressor();
+    }
+
+    public void enableDigital(){
+        m_module.enableCompressorDigital();
+    }
+
+    public void enableAnalog(double minPressure, double maxPressure){
+        m_module.enableCompressorAnalog(minPressure, maxPressure);
+    }
+
+    public void enableHybrid(double minPressure, double maxPressure){
+        m_module.enableCompressorHybrid(minPressure, maxPressure);
+    }
+
+    public CompressorConfigType getConfigType(){
+        return m_module.getCompressorConfigType();
+    }
+
+    @Override
+    public void initSendable(SendableBuilder builder){
+        builder.setSmartDashboardType("Compressor");
+        builder.addBooleanProperty("Enabled", this::enabled, null);
+        builder.addBooleanProperty("Pressure Switch", this::getPressureSwitchValue, null);
+    }
+
+}