That link is for an internal class that generally is not used directly.
jthenderson,
If you want to use the solenoid outputs on the PCM, just create Solenoid or DoubleSolenoid objects.
If you want the PCM to auto-enable the compressor when your system needs air, just wire the pressure-switch and compressor to the PCM. The software will know what to do as long as you created as least one Solenoid/Double Solenoid.
If you want advance features like getting the solenoid voltage (to confirm the solenoid jumper is in 12V or 24V mode), getting compressor current, or getting/clearing fault flags, you can create a Compressor object. Also you can use SetClosedLoopControl() to force-off the compressor if you want. Some teams will force the compressor off for power management.
There is no need to create a PCM object,
https://wpilib.screenstepslive.com/s...anual-id=13810
https://wpilib.screenstepslive.com/s...anual-id=13810