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/**
* Copyright (c) 2015, 2017 Luke Shumaker.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
/**
* DoubleSoleniod extends
* {@link edu.wpi.first.wpilibj.DoubleSolenoid wpilibj.DoubleSoleniod},
* adding the ability to disable it.
*
* Now, where things get useful is with enabling or disabling. If
* {@link #setEnabled(boolean) .setEnabled(false)}, then any calls to
* {@link #set(Value) .set()} will be remembered, but ignored until
* {@code .setEnabled(true)}. As long as {@code .setEnabled(false)},
* the actuated value will {@link Value.kOff}.
*/
public class DoubleSolenoid extends edu.wpi.first.wpilibj.DoubleSolenoid {
private boolean enabled = true;
private Value value;
public DoubleSolenoid(int forwardChannel, int reverseChannel) {
super(forwardChannel, reverseChannel);
value = get();
}
public DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel) {
super(moduleNumber, forwardChannel, reverseChannel);
value = get();
}
/**
* Set whether the soleniod is enabled. If the solenoid is
* not enabled, then the actuated state is {@link Value.kOff}.
* If {@link #set(Value)} or similar is call while disabled,
* the set will be remembered, but not take effect until it is
* re-enabled.
*
* @param enabled Whether the soleniod is enabled.
*/
public void setEnabled(boolean enabled) {
this.enabled = enabled;
if (enabled) {
set(value);
} else {
set(Value.kOff);
}
}
/**
* A convenience wrapper around {@link #set(Value) .set()}
* because {@link Value.kForward} and {@link Value.kReverse}
* are awkward to deal with.
*
* @param forward Whether to {@code .set(Value.kForward)} or {@code kBackward}.
*/
public void setForward(boolean forward) {
set(forward ? Value.kForward : Value.kReverse);
}
/**
* Returns whether or not it is set to forward. If the
* solenoid is disabled, the return value is based on the
* remembered value that it will use upon being enabled.
*
* @return The current value of the solenoid.
*/
public boolean getForward() {
return value == Value.kForward;
}
public void set(Value value) {
this.value = value;
if (enabled) {
super.set(value);
}
}
}
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