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Remove MotorSafetyHelper, create MotorSafety base class instead (#562)

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Most of the MotorSafety implementation was moved into the MotorSafety base
class. SafePWM's inheritance of MotorSafety was moved into PWM to
eliminate Java needing a helper class.

In Java, a helper class for Sendable (SendableImpl) was added due to
lack of multiple inheritance.
This commit is contained in:
Tyler Veness
2018-11-22 21:15:26 -08:00
committed by Peter Johnson
parent df347e3d80
commit acb786a791
39 changed files with 710 additions and 1023 deletions
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32
wpilibc/src/main/native/cpp/NidecBrushless.cpp
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@@ -14,11 +14,11 @@
using namespace frc;
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_safetyHelper(this), m_dio(dioChannel), m_pwm(pwmChannel) {
: m_dio(dioChannel), m_pwm(pwmChannel) {
AddChild(&m_dio);
AddChild(&m_pwm);
m_safetyHelper.SetExpiration(0.0);
m_safetyHelper.SetSafetyEnabled(false);
SetExpiration(0.0);
SetSafetyEnabled(false);
// the dio controls the output (in PWM mode)
m_dio.SetPWMRate(15625);
@@ -34,7 +34,7 @@ void NidecBrushless::Set(double speed) {
m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
m_pwm.SetRaw(0xffff);
}
m_safetyHelper.Feed();
Feed();
}
double NidecBrushless::Get() const { return m_speed; }
@@ -49,31 +49,13 @@ void NidecBrushless::Disable() {
m_pwm.SetDisabled();
}
void NidecBrushless::StopMotor() {
m_dio.UpdateDutyCycle(0.5);
m_pwm.SetDisabled();
}
void NidecBrushless::Enable() { m_disabled = false; }
void NidecBrushless::PIDWrite(double output) { Set(output); }
void NidecBrushless::SetExpiration(double timeout) {
m_safetyHelper.SetExpiration(timeout);
}
double NidecBrushless::GetExpiration() const {
return m_safetyHelper.GetExpiration();
}
bool NidecBrushless::IsAlive() const { return m_safetyHelper.IsAlive(); }
void NidecBrushless::SetSafetyEnabled(bool enabled) {
m_safetyHelper.SetSafetyEnabled(enabled);
}
bool NidecBrushless::IsSafetyEnabled() const {
return m_safetyHelper.IsSafetyEnabled();
void NidecBrushless::StopMotor() {
m_dio.UpdateDutyCycle(0.5);
m_pwm.SetDisabled();
}
void NidecBrushless::GetDescription(wpi::raw_ostream& desc) const {