public void ShiftUp()
{
if (Oi.ShifterGear != Gear.High)
{
Shifter.Set(DoubleSolenoid.Value.Forward);
Oi.ShifterGear = Gear.High;
}
}
/// <summary>
/// Sets the DoubleSolenoid to its default position
/// </summary>
public void DefaultSet()
{
#if USE_LOCKING
lock (solenoid)
#endif
{
solenoid.Set(Default);
}
}
public void TestDoubleSolenoid()
{
using (DoubleSolenoid solenoid = new DoubleSolenoid(0, 1))
{
NotifyCallback solenoid1Callback = null;
NotifyCallback solenoid2Callback = null;
int callback1Id = -1;
int callback2Id = -1;
if (RobotBase.IsSimulation)
{
solenoid1Callback = (s, o) =>
{
SimData.DIO[12].SetValue(!o.GetBoolean());
};
callback1Id = SimData.PCM[0].RegisterSolenoidOutputCallback(0, solenoid1Callback);
solenoid2Callback = (s, o) =>
{
SimData.DIO[13].SetValue(!o.GetBoolean());
};
callback2Id = SimData.PCM[0].RegisterSolenoidOutputCallback(1, solenoid2Callback);
}
solenoid.Set(DoubleSolenoid.Value.Off);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid.Get(), Is.EqualTo(DoubleSolenoid.Value.Off));
solenoid.Set(DoubleSolenoid.Value.Forward);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid.Get(), Is.EqualTo(DoubleSolenoid.Value.Forward));
solenoid.Set(DoubleSolenoid.Value.Reverse);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(solenoid.Get(), Is.EqualTo(DoubleSolenoid.Value.Reverse));
if (RobotBase.IsSimulation)
{
SimData.PCM[0].CancelSolenoidOutputCallback(0, callback1Id);
SimData.PCM[0].CancelSolenoidOutputCallback(1, callback2Id);
}
}
}
public void TestSolenoidSetOff()
{
using (DoubleSolenoid ds = NewDoubleSolenoid())
{
ds.Set(DoubleSolenoid.Value.Off);
Assert.IsFalse(GetSolenoids().GetSolenoidOutput(1));
Assert.IsFalse(GetSolenoids().GetSolenoidOutput(0));
}
}
public void TestSolenoidSetReverse()
{
using (DoubleSolenoid ds = NewDoubleSolenoid())
{
ds.Set(DoubleSolenoid.Value.Reverse);
Assert.IsTrue(GetSolenoids().GetSolenoidOutput(1));
Assert.IsFalse(GetSolenoids().GetSolenoidOutput(0));
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="commonName">CommonName the DoubleSolenoid will have</param>
/// <param name="forwardChannel">The forward channel number on the PCM [0..7]</param>
/// <param name="reverseChannel">The reverse channel number on the PCM [0..7]</param>
/// <param name="_default">Default position for when the Robot is initialized</param>
/// <param name="reversed">If the output is reversed for the forward and reversed states</param>
public DoubleSolenoidItem(string commonName, int forwardChannel, int reverseChannel,
DoubleSolenoid.Value _default, bool reversed = false)
{
solenoid = new DoubleSolenoid(forwardChannel, reverseChannel);
Name = commonName;
Default = _default;
IsReversed = reversed;
solenoid.Set(_default);
}
public void TestValueChanged()
{
using (DoubleSolenoid s = NewDoubleSolenoid())
{
s.Set(DoubleSolenoid.Value.Forward);
Assert.That(s.Get(), Is.EqualTo(Value.Forward));
s.ValueChanged(null, null, NetworkTables.Value.MakeString("Reverse"), NetworkTables.NotifyFlags.NotifyLocal);
Assert.That(s.Get, Is.EqualTo(Value.Reverse));
s.ValueChanged(null, null, NetworkTables.Value.MakeString("Garbage"), NetworkTables.NotifyFlags.NotifyLocal);
Assert.That(s.Get, Is.EqualTo(Value.Off));
s.ValueChanged(null, null, NetworkTables.Value.MakeString("Forward"), NetworkTables.NotifyFlags.NotifyLocal);
Assert.That(s.Get, Is.EqualTo(Value.Forward));
}
}
private void StepTwo()
{
GearMech.Set(DoubleSolenoid.Value.Forward);
}
private void StepOne()
{
GearClamp.Set(DoubleSolenoid.Value.Reverse);
}
public void Open() => manipulatorSolenoid.Set(DoubleSolenoid.Value.Forward);
public void TestDoubleSolenoid()
{
using (DoubleSolenoid solenoid = new DoubleSolenoid(0, 1))
{
Action<string, dynamic> solenoid1Callback = null;
Action<string, dynamic> solenoid2Callback = null;
if (RobotBase.IsSimulation)
{
solenoid1Callback = (s, o) =>
{
SimData.DIO[12].Value = !o;
};
SimData.GetPCM(0).Solenoids[0].Register("Value", solenoid1Callback);
solenoid2Callback = (s, o) =>
{
SimData.DIO[13].Value = !o;
};
SimData.GetPCM(0).Solenoids[1].Register("Value", solenoid2Callback);
}
solenoid.Set(DoubleSolenoid.Value.Off);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid.Get(), Is.EqualTo(DoubleSolenoid.Value.Off));
solenoid.Set(DoubleSolenoid.Value.Forward);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid.Get(), Is.EqualTo(DoubleSolenoid.Value.Forward));
solenoid.Set(DoubleSolenoid.Value.Reverse);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(solenoid.Get(), Is.EqualTo(DoubleSolenoid.Value.Reverse));
if (RobotBase.IsSimulation)
{
SimData.GetPCM(0).Solenoids[0].Cancel("Value", solenoid1Callback);
SimData.GetPCM(0).Solenoids[1].Cancel("Value", solenoid2Callback);
}
}
}
