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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
83 lines
2.7 KiB
C++
83 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "MotorSafety.h"
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#include "SensorBase.h"
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#include "simulation/SimContinuousOutput.h"
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#include "tables/ITableListener.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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#include <memory>
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class MotorSafetyHelper;
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class DigitalModule;
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/**
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* Class for Spike style relay outputs.
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* Relays are intended to be connected to spikes or similar relays. The relay channels controls
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* a pair of pins that are either both off, one on, the other on, or both on. This translates into
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* two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
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* spike outputs at 12V. This allows off, full forward, or full reverse control of motors without
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* variable speed. It also allows the two channels (forward and reverse) to be used independently
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* for something that does not care about voltage polatiry (like a solenoid).
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*/
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class Relay : public MotorSafety,
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public SensorBase,
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public ITableListener,
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public LiveWindowSendable {
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public:
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enum Value
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{
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kOff,
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kOn,
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kForward,
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kReverse
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};
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enum Direction
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{
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kBothDirections,
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kForwardOnly,
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kReverseOnly
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};
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Relay(uint32_t channel, Direction direction = kBothDirections);
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virtual ~Relay();
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void Set(Value value);
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Value Get() const;
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uint32_t GetChannel() const;
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void SetExpiration(float timeout) override;
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float GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(std::ostringstream& desc) const override;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table;
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private:
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uint32_t m_channel;
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Direction m_direction;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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SimContinuousOutput* impl;
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bool go_pos, go_neg;
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};
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