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[wpilib] Improve MotorSafety documentation (NFC) (#4120)

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Remove OBE RobotDrive porting guide from MecanumDrive
This commit is contained in:
sciencewhiz
2022-03-20 21:54:43 -07:00
committed by GitHub
parent 8d79dc8738
commit e1b6e5f212
10 changed files with 33 additions and 21 deletions
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7
wpilibc/src/main/native/include/frc/MotorSafety.h
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@@ -14,8 +14,11 @@
namespace frc {
/**
* This base class runs a watchdog timer and calls the subclass's StopMotor()
* function if the timeout expires.
* The Motor Safety feature acts as a watchdog timer for an individual motor. It
* operates by maintaining a timer that tracks how long it has been since the
* feed() method has been called for that actuator. Code in the Driver Station
* class initiates a comparison of these timers to the timeout values for any
* actuator with safety enabled every 5 received packets (100ms nominal).
*
* The subclass should call Feed() whenever the motor value is updated.
*/