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https://github.com/wpilibsuite/allwpilib
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Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
@@ -1,149 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <HAL/Types.h>
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#include <wpi/raw_ostream.h>
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#include "ErrorBase.h"
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#include "MotorSafety.h"
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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class MotorSafetyHelper;
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/**
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* Class for Spike style relay outputs.
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*
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* Relays are intended to be connected to spikes or similar relays. The relay
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* channels controls a pair of pins that are either both off, one on, the other
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* on, or both on. This translates into two spike outputs at 0v, one at 12v and
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* one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
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* allows off, full forward, or full reverse control of motors without variable
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* speed. It also allows the two channels (forward and reverse) to be used
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* independently for something that does not care about voltage polarity (like
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* a solenoid).
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*/
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class Relay : public MotorSafety, public ErrorBase, public SendableBase {
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public:
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enum Value { kOff, kOn, kForward, kReverse };
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enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
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/**
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* Relay constructor given a channel.
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*
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* This code initializes the relay and reserves all resources that need to be
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* locked. Initially the relay is set to both lines at 0v.
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*
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* @param channel The channel number (0-3).
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* @param direction The direction that the Relay object will control.
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*/
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explicit Relay(int channel, Direction direction = kBothDirections);
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/**
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* Free the resource associated with a relay.
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*
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* The relay channels are set to free and the relay output is turned off.
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*/
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~Relay() override;
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/**
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* Set the relay state.
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*
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* Valid values depend on which directions of the relay are controlled by the
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* object.
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*
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* When set to kBothDirections, the relay can be any of the four states:
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* 0v-0v, 0v-12v, 12v-0v, 12v-12v
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*
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* When set to kForwardOnly or kReverseOnly, you can specify the constant for
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* the direction or you can simply specify kOff and kOn. Using only kOff and
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* kOn is recommended.
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*
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* @param value The state to set the relay.
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*/
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void Set(Value value);
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/**
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* Get the Relay State
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*
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* Gets the current state of the relay.
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*
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* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
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* kForward/kReverse (per the recommendation in Set).
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*
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* @return The current state of the relay as a Relay::Value
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*/
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Value Get() const;
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int GetChannel() const;
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/**
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* Set the expiration time for the Relay object.
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*
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* @param timeout The timeout (in seconds) for this relay object
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*/
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void SetExpiration(double timeout) override;
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/**
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* Return the expiration time for the relay object.
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*
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* @return The expiration time value.
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*/
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double GetExpiration() const override;
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/**
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* Check if the relay object is currently alive or stopped due to a timeout.
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*
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* @return a bool value that is true if the motor has NOT timed out and should
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* still be running.
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*/
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bool IsAlive() const override;
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/**
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* Stop the motor associated with this PWM object.
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*
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* This is called by the MotorSafetyHelper object when it has a timeout for
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* this relay and needs to stop it from running.
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*/
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void StopMotor() override;
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/**
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* Enable/disable motor safety for this device.
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*
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* Turn on and off the motor safety option for this relay object.
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*
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* @param enabled True if motor safety is enforced for this object
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*/
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void SetSafetyEnabled(bool enabled) override;
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/**
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* Check if motor safety is enabled for this object.
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*
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* @returns True if motor safety is enforced for this object
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*/
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bool IsSafetyEnabled() const override;
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void GetDescription(wpi::raw_ostream& desc) const override;
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void InitSendable(SendableBuilder& builder) override;
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private:
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int m_channel;
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Direction m_direction;
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HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
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HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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};
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} // namespace frc
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