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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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22
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
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@@ -18,31 +18,13 @@
using namespace frc;
RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); }
RobotDriveBase::RobotDriveBase() { SetSafetyEnabled(true); }
void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; }
void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
void RobotDriveBase::FeedWatchdog() { m_safetyHelper.Feed(); }
void RobotDriveBase::SetExpiration(double timeout) {
m_safetyHelper.SetExpiration(timeout);
}
double RobotDriveBase::GetExpiration() const {
return m_safetyHelper.GetExpiration();
}
bool RobotDriveBase::IsAlive() const { return m_safetyHelper.IsAlive(); }
bool RobotDriveBase::IsSafetyEnabled() const {
return m_safetyHelper.IsSafetyEnabled();
}
void RobotDriveBase::SetSafetyEnabled(bool enabled) {
m_safetyHelper.SetSafetyEnabled(enabled);
}
void RobotDriveBase::FeedWatchdog() { Feed(); }
double RobotDriveBase::Limit(double value) {
if (value > 1.0) {