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Allow users to feed the watchdog contained in drive objects (#1044)

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Austin Shalit
2018-05-09 23:18:55 -04:00
committed by Peter Johnson
parent b7ea481bf9
commit 665a6e356a
3 changed files with 18 additions and 0 deletions
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7
wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp
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@@ -40,6 +40,13 @@ void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; }
*/
void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
/**
* Feed the motor safety object. Resets the timer that will stop the motors if it completes.
*
* @see MotorSafetyHelper::Feed()
*/
void RobotDriveBase::FeedWatchdog() { m_safetyHelper.Feed(); }
void RobotDriveBase::SetExpiration(double timeout) {
m_safetyHelper.SetExpiration(timeout);
}