Exemplo n.º 1
0
 public void ShiftUp()
 {
     if (Oi.ShifterGear != Gear.High)
     {
         Shifter.Set(DoubleSolenoid.Value.Forward);
         Oi.ShifterGear = Gear.High;
     }
 }
Exemplo n.º 2
0
        /// <summary>
        ///     Sets the DoubleSolenoid to its default position
        /// </summary>
        public void DefaultSet()
        {
#if USE_LOCKING
            lock (solenoid)
#endif
            {
                solenoid.Set(Default);
            }
        }
Exemplo n.º 3
0
        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);
                }
            }
        }
Exemplo n.º 4
0
 public void TestSolenoidSetOff()
 {
     using (DoubleSolenoid ds = NewDoubleSolenoid())
     {
         ds.Set(DoubleSolenoid.Value.Off);
         Assert.IsFalse(GetSolenoids().GetSolenoidOutput(1));
         Assert.IsFalse(GetSolenoids().GetSolenoidOutput(0));
     }
 }
Exemplo n.º 5
0
 public void TestSolenoidSetReverse()
 {
     using (DoubleSolenoid ds = NewDoubleSolenoid())
     {
         ds.Set(DoubleSolenoid.Value.Reverse);
         Assert.IsTrue(GetSolenoids().GetSolenoidOutput(1));
         Assert.IsFalse(GetSolenoids().GetSolenoidOutput(0));
     }
 }
Exemplo n.º 6
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);
 }
Exemplo n.º 7
0
 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));
     }
 }
Exemplo n.º 8
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 private void StepTwo()
 {
     GearMech.Set(DoubleSolenoid.Value.Forward);
 }
Exemplo n.º 9
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 private void StepOne()
 {
     GearClamp.Set(DoubleSolenoid.Value.Reverse);
 }
Exemplo n.º 10
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 public void Open() => manipulatorSolenoid.Set(DoubleSolenoid.Value.Forward);
Exemplo n.º 11
0
        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);
                }
            }
        }