3 - Sensors/Actuators

Pneumatics

In a typical pneumatic configuration, you'll have a solenoid connected to the brain using the ADI (3-wire) ports. The solenoid actuates a pneumatic piston by controlling the flow of air to/from the piston.

For more detailed information on pneumatics, check out VEX's knowledge base articles on pneumatics.

You can control a pneumatic solenoid (and, by extension, the piston) by making an ADIPneumatic.

// Define a pneumatic
ADIPneumatic samplePneumatic = ADIPneumatic(
    "SamplePneumatic",  // <-- Name of the pneumatic (for logging purposes)
    'B',                // <-- ADI port the pneumatic is connected to (A, B, C, D, E, F, G, H)
    false               // <-- Optional: Whether or not the solenoid is reversed (defaults to false)
);

void opcontrol() override {
    samplePneumatic.extend();
    samplePneumatic.retract();

    samplePneumatic.setExtended(true);
    samplePneumatic.setExtended(false);

    // ...
}

Pneumatic Group

If you have multiple solenoids you want to control together, you can make an ADIPneumaticGroup to control them all at once.

ADIPneumaticGroup samplePneumaticGroup = ADIPneumaticGroup(
    "SamplePneumaticGroup", // <-- Name of the pneumatic group (for logging purposes)
    {'A', 'B', 'C'}         // <-- List the ADI ports of each pneumatic in the group
);

void opcontrol() override {
    samplePneumatic.extend();
    samplePneumatic.retract();

    // ...
}