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Renamed folders for consistency, using sim/athena/shared schema (#27)

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Rename the following folders:
hal/lib/Athena -> hal/lib/athena
hal/lib/Desktop -> hal/lib/sim
hal/lib/Shared -> hal/lib/shared
wpilibc/Athena -> wpilibc/athena
wpilibc/simulation -> wpilibc/sim

Windows users may need to run gradlew clean after updating.
This commit is contained in:
Peter Mitrano
2016-05-22 17:55:51 -04:00
committed by Peter Johnson
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
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88
wpilibc/athena/src/SafePWM.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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"
/**
* 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(uint32_t 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(float timeout) {
m_safetyHelper->SetExpiration(timeout);
}
/**
* Return the expiration time for the PWM object.
*
* @returns The expiration time value.
*/
float 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() { SetRaw(kPwmDisabled); }
/**
* 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(std::ostringstream& 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(float speed) {
PWM::SetSpeed(speed);
m_safetyHelper->Feed();
}