Pneumatics Control

import edu.wpi.first.wpilibj.PneumaticsModuleType;

// Specify module type
PneumaticsModuleType.CTREPCM;  // CTRE PCM
PneumaticsModuleType.REVPH;    // REV Pneumatic Hub

import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;

public class IntakeSubsystem {
  private Solenoid m_solenoid;

  public IntakeSubsystem() {
    // Solenoid on channel 0 of default REV PH module
    m_solenoid = new Solenoid(PneumaticsModuleType.REVPH, 0);
    
    // Or specify module ID
    m_solenoid = new Solenoid(1, PneumaticsModuleType.REVPH, 0);
  }

  public void extend() {
    m_solenoid.set(true);
  }

  public void retract() {
    m_solenoid.set(false);
  }

  public void toggle() {
    m_solenoid.toggle();
  }

  public boolean isExtended() {
    return m_solenoid.get();
  }
}

import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import static edu.wpi.first.wpilibj.DoubleSolenoid.Value;

public class ClawSubsystem {
  private DoubleSolenoid m_solenoid;

  public ClawSubsystem() {
    // Forward channel 0, reverse channel 1
    m_solenoid = new DoubleSolenoid(
      PneumaticsModuleType.REVPH,
      0,  // Forward channel
      1   // Reverse channel
    );
  }

  public void open() {
    m_solenoid.set(Value.kForward);
  }

  public void close() {
    m_solenoid.set(Value.kReverse);
  }

  public void off() {
    // Turn off both solenoids (holds position)
    m_solenoid.set(Value.kOff);
  }

  public Value getPosition() {
    return m_solenoid.get();
  }

  public boolean isOpen() {
    return m_solenoid.get() == Value.kForward;
  }
}

Solenoid solenoid = new Solenoid(PneumaticsModuleType.REVPH, 0);

// Set pulse duration (PCM: 0.01-2.55s, PH: 0.001-65.534s)
solenoid.setPulseDuration(0.5); // 500ms pulse

// Trigger the pulse
solenoid.startPulse();
// Solenoid will activate for 500ms then deactivate automatically

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.PneumaticsModuleType;

public class RobotContainer {
  private Compressor m_compressor;

  public RobotContainer() {
    // Compressor on default module
    m_compressor = new Compressor(PneumaticsModuleType.REVPH);
    
    // Or specify module ID
    m_compressor = new Compressor(1, PneumaticsModuleType.REVPH);
    
    // Compressor automatically runs in closed loop by default
  }

  public void disableCompressor() {
    m_compressor.disable();
  }

  public void enableCompressor() {
    m_compressor.enableDigital();
  }

  public boolean isCompressorRunning() {
    return m_compressor.isEnabled();
  }
}

Compressor compressor = new Compressor(PneumaticsModuleType.REVPH);

// Digital mode (using pressure switch)
compressor.enableDigital();

// Analog mode (REV PH only with analog pressure sensor)
compressor.enableAnalog(100, 120); // Min 100 PSI, Max 120 PSI

// Hybrid mode (REV PH only - uses both digital and analog)
compressor.enableHybrid(100, 120);

// Disable compressor
compressor.disable();

Compressor compressor = new Compressor(PneumaticsModuleType.REVPH);

// Check if compressor is running
boolean running = compressor.isEnabled();

// Check pressure switch state
boolean pressureLow = compressor.getPressureSwitchValue();

// Get current draw
double current = compressor.getCurrent();

// REV PH only - analog pressure sensor
double voltage = compressor.getAnalogVoltage();
double pressure = compressor.getPressure(); // PSI

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import static edu.wpi.first.wpilibj.DoubleSolenoid.Value;

public class Robot extends TimedRobot {
  private Compressor m_compressor;
  private DoubleSolenoid m_clawSolenoid;
  private Solenoid m_armSolenoid;
  private Joystick m_joystick;

  @Override
  public void robotInit() {
    // Initialize pneumatics module
    m_compressor = new Compressor(PneumaticsModuleType.REVPH);
    
    // Claw - double solenoid on channels 0 and 1
    m_clawSolenoid = new DoubleSolenoid(
      PneumaticsModuleType.REVPH, 0, 1
    );
    
    // Arm - single solenoid on channel 2
    m_armSolenoid = new Solenoid(PneumaticsModuleType.REVPH, 2);
    
    m_joystick = new Joystick(0);
  }

  @Override
  public void teleopPeriodic() {
    // Button 1: Open claw
    if (m_joystick.getRawButtonPressed(1)) {
      m_clawSolenoid.set(Value.kForward);
    }
    
    // Button 2: Close claw
    if (m_joystick.getRawButtonPressed(2)) {
      m_clawSolenoid.set(Value.kReverse);
    }
    
    // Button 3: Toggle arm
    if (m_joystick.getRawButtonPressed(3)) {
      m_armSolenoid.toggle();
    }
    
    // Display compressor status
    if (m_compressor.isEnabled()) {
      System.out.println("Compressor running - Current: " + 
        m_compressor.getCurrent() + "A");
    }
  }

  @Override
  public void disabledInit() {
    // Retract all pneumatics when disabled
    m_clawSolenoid.set(Value.kOff);
    m_armSolenoid.set(false);
  }
}

Solenoid solenoid = new Solenoid(PneumaticsModuleType.REVPH, 0);

// Check if solenoid is disabled due to short
if (solenoid.isDisabled()) {
  System.err.println("Solenoid is shorted and disabled!");
}