Start v4.11.0: It was deemed too messy to modify MonitorCompresssor to support REV PH along with CTRE PCM. Writing a new generic class for both would take more time and testing than we wanted to spend at this time. So new class MonitorCompressorPH was created to handle REV PH.

Author: Crossle86

User Dictionary.txt

@@ -43,4 +43,4 @@ drivebase
 watchdogs
 wpilib
 odometry
-pneumatic
+pneumaticpneumatics

gradle.properties

@@ -1,4 +1,4 @@
-LibraryVersion=4.10.0
+LibraryVersion=4.11.0
 archivesGroup = com.github.ORF-4450
 archivesBaseName = RobotLib
 jsonFileName = robotlib.json

src/main/java/Team4450/Lib/LibraryVersion.java

@@ -47,7 +47,7 @@ public class LibraryVersion
 	 * of the Jitpack compile when requested and will be automatically made available via JitPack. 
 	 */
 
-	public static final String version = "4.10.0 (01.31.2025) WPILib=" + WPILibVersion.Version;	
+	public static final String version = "4.11.0 (02.18.2025) WPILib=" + WPILibVersion.Version;	
 
 	// Private constructor means this class can't be instantiated.
 	private LibraryVersion()

src/main/java/Team4450/Lib/MonitorCompressor.java

@@ -12,14 +12,13 @@
 import edu.wpi.first.wpilibj.Compressor;
 
 /**
- * Compressor monitoring task.
+ * Compressor monitoring task. For CTRE PCM only.
  * Runs as a separate thread from our MyRobot class. Runs until our
  * program is terminated from the RoboRio. Displays compressor on/off
  * LED on DS. Can also monitor an air pressure sensor and report the
  * pressure to the DS. Assumes compressor is plugged into the first
  * PCM, device id 0.
- * Note: for 2022 only CTRE PCM is supported at this time. REV Pneumatic
- * Hub will be added later.
+
  */
 
 public class MonitorCompressor extends Thread implements Sendable

src/main/java/Team4450/Lib/MonitorCompressorPH.java

@@ -0,0 +1,197 @@
+
+package Team4450.Lib;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.Compressor;
+
+/**
+ * Compressor monitoring task. For REV Pneumatics Hub only.
+ * Runs as a separate thread from our MyRobot class. Runs until our
+ * program is terminated from the RoboRio. Displays compressor on/off
+ * LED on DS. Can also monitor an air pressure sensor and report the
+ * pressure to the DS. Assumes compressor is plugged into the first
+ * PH, device id 1.
+ */
+
+public class MonitorCompressorPH extends Thread implements Sendable
+{
+  private final Compressor			compressor;
+  private double					delay = 2.0, lowPressureThreshold = 0.0, correction = 0.0;
+  private boolean					lowPressureAlarm = false, ledState = false, compressorState;
+  private int						loopCount;
+  
+  /**
+   * Static reference to the internal MonitorCompressorPH instance created by
+   * getInstance() calls on this class. Must call a getInstance() before using.
+   */
+  public static MonitorCompressorPH	INSTANCE;
+
+  // Create single instance of this class and return that single instance to any callers.
+  // This is the singleton class model. You don't use new, you use getInstance. After that
+  // you can use the returned instance reference in a variable in your code or use the
+  // INSTANCE variable above to access the members of this class. Assumes robot will have
+  // only one compressor.
+  
+  /**
+   * Get a reference to global MonitorCompressorPH Thread object. Monitors compressor on/off
+   * and sets DS LED named Compressor accordingly. Also monitors pressure on analog I/O port.
+   * Pressure is displayed on DS gauge called AirPressure. Can also do an alarm LED called 
+   * LowPressure if you set the low pressure threshold.
+   * @param compressor Reference to a Compressor object of type REVPH.
+   * @return Reference to global MonitorCompressorPH object.
+   */
+    
+  public static MonitorCompressorPH getInstance(Compressor compressor) 
+  {
+  	 Util.consoleLog();
+      	
+     if (INSTANCE == null) INSTANCE = new MonitorCompressorPH(compressor);
+          
+     return INSTANCE;
+  }
+
+  private MonitorCompressorPH(Compressor compressor)
+  {
+	  Util.consoleLog();
+	  
+	  this.compressor = compressor;
+	  
+	  this.setName("MonitorCompressorPH");
+
+	  SmartDashboard.putBoolean("LowPressure", false);
+	  
+	  SendableRegistry.addLW(this, "MonitorCompressorPH", 1);
+  }
+    
+  /**
+   * If monitoring pressure, return the current pressure from port 0.
+   * @return Current pressure in PSI.
+   */
+  public double getPressure()
+  {
+	  Double pressure = compressor.getPressure();
+	  
+	  if (Double.isNaN(pressure)) pressure = 0.0;
+	  
+	  return pressure + correction;
+  }
+  
+  /**
+   * Return the pressure sensor current voltage on port 0.
+   * @return Sensor voltage.
+   */
+  public double getVoltage()
+  {
+	  return compressor.getAnalogVoltage();
+  }
+  
+  /**
+   * Set the delay of the sampling loop. Longer delay works when only monitoring compressor on/off.
+   * Shorter delay may be appropriate when monitoring pressure.
+   * @param seconds Delay in second between samples. Minimum .5 second. Defaults to 2 seconds.
+   */
+  public void setDelay(double seconds)
+  {
+	  if (delay < 0.5) delay = 0.5;
+	  
+	  delay = seconds;
+  }
+  
+  /**
+   * Set correction value to be added to the pressure to make it
+   * match the gauge.
+   * @param psi Correction value in PSI.
+   */
+  public void setCorrection(double psi)
+  {
+	  correction = psi;
+  }
+  
+  /**
+   * Enable low pressure alarm LED on DS by setting pressure at which
+   * alarm will trigger. Expects LED to be named LowPressure.
+   * @param psi The low pressure in PSI.
+   */
+  public void SetLowPressureAlarm(double psi)
+  {
+	  if (psi < 0) psi = 0;
+	  
+	  lowPressureThreshold = psi;
+  }
+  
+  /**
+   * Start monitoring. Called by Thread.start().
+   */
+  public void run()
+  {      
+	boolean	saveState = false;
+	double	pressure;
+	
+	try
+	{
+		Util.consoleLog();
+
+		while (!isInterrupted())
+		{
+			compressorState = compressor.isEnabled();
+			
+			if (compressorState != saveState)
+			{
+				saveState = compressorState;
+				SmartDashboard.putBoolean("Compressor", saveState);
+				Util.consoleLog("compressor on=%b", saveState);
+			}
+			
+			pressure = getPressure();
+			
+			
+			SmartDashboard.putNumber("AirPressure", (int) pressure);
+		
+			if (lowPressureThreshold > 0)
+			{
+				if (pressure <= lowPressureThreshold)
+				{
+					if (!lowPressureAlarm) DriverStation.reportError(String.format("low air pressure alarm: %dpsi", (int) pressure), false);
+
+					lowPressureAlarm = true;
+				}
+				else
+				{
+					if (lowPressureAlarm) DriverStation.reportError("low air pressure alarm cleared", false);
+					
+					lowPressureAlarm = false;
+				}
+				
+				if (lowPressureAlarm)
+					ledState = !ledState;
+				else
+					ledState = false;
+
+				SmartDashboard.putBoolean("LowPressure", ledState);
+				
+				loopCount++;
+			}
+			
+			Timer.delay(delay);
+		}
+	}
+	catch (Throwable e) {Util.logException(e);}
+  }
+	
+  @Override
+  public void initSendable( SendableBuilder builder )
+  {
+	builder.setSmartDashboardType("MonitorCompressorPH");
+  	builder.addBooleanProperty(".controllable", () -> false, null);
+    builder.addDoubleProperty("PSI", this::getPressure, null);
+    builder.addBooleanProperty("On", () -> compressorState, null);
+    builder.addBooleanProperty("Alarm", () -> lowPressureAlarm, null);
+    builder.addDoubleProperty("Loop", () -> loopCount, null);
+  }
+}

src/main/resources/overview.html

@@ -3,5 +3,5 @@
 <body>
 <h1 style="font-family: arial">FRC Team 4450 Robot Control Program Utility Library</h1>
 <p style="font-family: arial">Provides utility classes and functions for FRC robot control programs.</p>
-<p style="font-family: arial">Version 4.10.0  (January 31 2025)</p>
+<p style="font-family: arial">Version 4.11.0  (February 18 2025)</p>
 </body>