Bring Up: PCM

At this point PCM will have firmware 1.62 or 1.65 (latest). Open Phoenix Tuner to confirm.

Phoenix Tuner Self-test Snapshot

Press Self-test Snapshot to confirm solenoid states, compressor state ,and battery/current measurements. Since device is not enabled, no outputs should assert.

_images/bring-10.png

Note

In this view, the Self-test Snapshot was docked to the right. If CAN Devices width is shrunk small enough, the field-upgrade and Device ID options are hidden and the list view becomes collapsed. This way you can still use the device list as an alternative to the center-top dropdown.

The next step is to get the compressor and solenoids operational.

Create a Solenoid object in LabVIEW/C++/Java and set channel 0 to true.

import edu.wpi.first.wpilibj.Solenoid;
public class Robot extends TimedRobot {
    Solenoid _solenoid = new Solenoid(0, 0); // first number is the PCM ID (usually zero), second number is the solenoid channel

    public void teleopPeriodic() {
        _solenoid.set(true);
    }

Tip

Image below can be dragged/dropped into LabVIEW editor.

_images/pcm-lv-1.png

Then confirm using the Solenoid LED on the PCM and Self-test Snapshot in Tuner.

_images/pcm-tuner-1.png

Generally creating a solenoid object is sufficient for the compressor features to function. In order for the compressor output to activate, all of the following conditions must be met:

  • The robot is enabled via the Driver Station
  • Robot application has created a solenoid (or compressor object) with the correct PCM device ID.
  • PCM must be powered/wired to CAN Bus.
  • Pressure-switch reads too-low (can be confirmed in Self-test Snapshot).
  • No compressor related faults occur (can be confirmed in Self-test Snapshot)

Tip

Creating a compressor object is not necessary, but can be useful to force the compressor off despite pressure reading too-low with the setClosedLoopControl routine/VI. This can be useful for robot power management during critical operations.

import edu.wpi.first.wpilibj.Compressor;
public class Robot extends TimedRobot {
    Compressor _compressor = new Compressor();

    public void teleopPeriodic() {
        _compressor.setClosedLoopControl(false); //This will force the compressor off
    }

Tip

Image below can be dragged/dropped into LabVIEW editor.

_images/pcm-lv-2.png