edu.wpi.first.wpilibj

Class DoubleSolenoid

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.SolenoidBase

edu.wpi.first.wpilibj.DoubleSolenoid

All Implemented Interfaces:

LiveWindowSendable, Sendable

public class DoubleSolenoid
extends SolenoidBase
implements LiveWindowSendable

DoubleSolenoid class for running 2 channels of high voltage Digital Output. The DoubleSolenoid class is typically used for pneumatics solenoids that have two positions controlled by two separate channels.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DoubleSolenoid.Value Possible values for a DoubleSolenoid

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.SolenoidBase

m_allocated, m_moduleNumber

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPDPChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
DoubleSolenoid(int forwardChannel, int reverseChannel) Constructor.
DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel) Constructor.

Method Summary

Modifier and Type	Method and Description
void	free() Destructor.
DoubleSolenoid.Value	get() Read the current value of the solenoid.
String	getSmartDashboardType()
edu.wpi.first.wpilibj.tables.ITable	getTable()
void	initTable(edu.wpi.first.wpilibj.tables.ITable subtable) Initializes a table for this sendable object.
boolean	isFwdSolenoidBlackListed() Check if the forward solenoid is blacklisted.
boolean	isRevSolenoidBlackListed() Check if the reverse solenoid is blacklisted.
void	set(DoubleSolenoid.Value value) Set the value of a solenoid.
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.SolenoidBase

clearAllPCMStickyFaults, getAll, getPCMSolenoidBlackList, getPCMSolenoidVoltageFault, getPCMSolenoidVoltageStickyFault, set

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DoubleSolenoid

public DoubleSolenoid(int forwardChannel,
                      int reverseChannel)

Constructor. Uses the default PCM ID of 0

Parameters:

forwardChannel - The forward channel number on the PCM.

reverseChannel - The reverse channel number on the PCM.

DoubleSolenoid

public DoubleSolenoid(int moduleNumber,
                      int forwardChannel,
                      int reverseChannel)

Constructor.

Parameters:

moduleNumber - The module number of the solenoid module to use.

forwardChannel - The forward channel on the module to control.

reverseChannel - The reverse channel on the module to control.

Method Detail

free

public void free()

Destructor.

Overrides:

free in class SensorBase

set

public void set(DoubleSolenoid.Value value)

Set the value of a solenoid.

Parameters:

value - The value to set (Off, Forward, Reverse)

get

public DoubleSolenoid.Value get()

Read the current value of the solenoid.

Returns:

The current value of the solenoid.

isFwdSolenoidBlackListed

public boolean isFwdSolenoidBlackListed()

Check if the forward solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

Returns:

If solenoid is disabled due to short.

See Also:

SolenoidBase.clearAllPCMStickyFaults()

isRevSolenoidBlackListed

public boolean isRevSolenoidBlackListed()

Check if the reverse solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and disabled until power cycle, or until faults are cleared.

Returns:

If solenoid is disabled due to short.

See Also:

SolenoidBase.clearAllPCMStickyFaults()

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(edu.wpi.first.wpilibj.tables.ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

getTable

public edu.wpi.first.wpilibj.tables.ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

startLiveWindowMode

public void startLiveWindowMode()

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable