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Infrastructure.java
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Infrastructure.java
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package com.team254.frc2022.subsystems;
import com.team254.frc2022.Constants;
import com.team254.lib.drivers.Subsystem;
import com.team254.lib.loops.ILooper;
import com.team254.lib.loops.Loop;
import edu.wpi.first.wpilibj.PneumaticHub;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Infrastructure extends Subsystem {
private final PneumaticHub mPneumaticHub;
private final PowerDistribution mPowerDistributionHub;
private static Infrastructure mInstance = null;
public static Infrastructure getInstance() {
if (mInstance == null) {
mInstance = new Infrastructure();
}
return mInstance;
}
private Infrastructure() {
mPneumaticHub = new PneumaticHub();
mPowerDistributionHub = new PowerDistribution();
}
public void enableCompressorAnalog() {
mPneumaticHub.enableCompressorAnalog(90.0, 110.0);
}
public void disableCompressor() {
mPneumaticHub.disableCompressor();
}
public double getVoltage() {
return mPowerDistributionHub.getVoltage();
}
@Override
public void registerEnabledLoops(ILooper enabledLooper) {
enabledLooper.register(new Loop() {
@Override
public void onStart(double timestamp) {
enableCompressorAnalog();
}
@Override
public void onLoop(double timestamp) {}
@Override
public void onStop(double timestamp) {
disableCompressor();
stop();
}
});
}
@Override
public void stop() {
// mPneumaticHub.disableCompressor();
}
@Override
public boolean checkSystem() {
return false;
}
@Override
public void outputTelemetry() {
SmartDashboard.putNumber("Pressure", mPneumaticHub.getPressure(Constants.kAnalogSensorChannel));
SmartDashboard.putBoolean("Compressor On", mPneumaticHub.getCompressor());
SmartDashboard.putNumber("Battery Voltage", mPowerDistributionHub.getVoltage());
}
}