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https://github.com/wpilibsuite/allwpilib
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f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
68 lines
2.2 KiB
C++
68 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 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 <llvm/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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explicit Relay(int channel, Direction direction = kBothDirections);
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~Relay() override;
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void Set(Value value);
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Value Get() const;
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int GetChannel() const;
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void SetExpiration(double timeout) override;
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double 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(llvm::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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