Pneumatics and C++

[Peter Cudmore]

I am a mentor for a Rookie team. We are almost built and coded but are having a few issues finding the last bits of code we need.

The main problem is with the pneumatics. I can't seem to find examples of pneumatic code in c++ anywhere for us to start from.

Can anyone recommended a good source for pneumatic c++ code or give an example of the commands we need to use.

We are only using one solenoid for our grabber mechanism. I need to know the code structure to define the solenoid and how to use the function to get it to switch position when i call it.

Also the code for the compressor, spike, and auto shut off would be great too as we have just noticed that even with the compressor off the bot we still need this attached to charge the cylinder.

[jwakeman]

The Compressor class will manage everything to do with the running the compressor and turning it on/off based on the pressure switch. You just have to pass it the slot/channel of the spike relay and the pressure switch and call Start(). You will use the Selenoid class to control your solenoid. It has a Set() function to turn it on/off. Below is a simple example but it will need a little more work before it is functional. First you need to set the proper channel/slot values. I just put zeros in so you must put the correct values here for it to work. Also, I just guessed that to open your grabber you would turn your selenoid off and to close it you would turn your selenoid on. Good Luck!!

Grabber.h

#include "Compressor.h"
#include "Solenoid.h"

class Grabber
{
public:
	Grabber();
	~Grabber();
	
	void Open();
	void Close();
private:
	Compressor* pCompressor;
	Solenoid* pSolenoid;
	
};

Grabber.cpp

#include "Grabber.h"

Grabber::Grabber()
{
	this->pCompressor = new Compressor(0,0,0,0);
	this->pSolenoid = new Solenoid(0,0);
	
	this->pCompressor->Start();
	this->pSolenoid->Set(false);
}

Grabber::~Grabber()
{
	
}

void Grabber::Open()
{
	this->pSolenoid->Set(false);
}

void Grabber::Close()
{
	this->pSolenoid->Set(true);
}