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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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92
wpilibc/src/main/native/cpp/SafePWM.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "SafePWM.h"
using namespace frc;
/**
* Constructor for a SafePWM object taking a channel number.
*
* @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP
* port
*/
SafePWM::SafePWM(int channel) : PWM(channel) {
m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
m_safetyHelper->SetSafetyEnabled(false);
}
/**
* Set the expiration time for the PWM object.
*
* @param timeout The timeout (in seconds) for this motor object
*/
void SafePWM::SetExpiration(double timeout) {
m_safetyHelper->SetExpiration(timeout);
}
/**
* Return the expiration time for the PWM object.
*
* @returns The expiration time value.
*/
double SafePWM::GetExpiration() const {
return m_safetyHelper->GetExpiration();
}
/**
* Check if the PWM object is currently alive or stopped due to a timeout.
*
* @return a bool value that is true if the motor has NOT timed out and should
* still be running.
*/
bool SafePWM::IsAlive() const { return m_safetyHelper->IsAlive(); }
/**
* Stop the motor associated with this PWM object.
*
* This is called by the MotorSafetyHelper object when it has a timeout for this
* PWM and needs to stop it from running.
*/
void SafePWM::StopMotor() { SetDisabled(); }
/**
* Enable/disable motor safety for this device.
*
* Turn on and off the motor safety option for this PWM object.
*
* @param enabled True if motor safety is enforced for this object
*/
void SafePWM::SetSafetyEnabled(bool enabled) {
m_safetyHelper->SetSafetyEnabled(enabled);
}
/**
* Check if motor safety is enabled for this object.
*
* @returns True if motor safety is enforced for this object
*/
bool SafePWM::IsSafetyEnabled() const {
return m_safetyHelper->IsSafetyEnabled();
}
void SafePWM::GetDescription(llvm::raw_ostream& desc) const {
desc << "PWM " << GetChannel();
}
/**
* Feed the MotorSafety timer when setting the speed.
*
* This method is called by the subclass motor whenever it updates its speed,
* thereby reseting the timeout value.
*
* @param speed Value to pass to the PWM class
*/
void SafePWM::SetSpeed(double speed) {
PWM::SetSpeed(speed);
m_safetyHelper->Feed();
}