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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __SAFE_PWM__
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#define __SAFE_PWM__
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#include "MotorSafety.h"
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#include "PWM.h"
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class MotorSafetyHelper;
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/**
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* A safe version of the PWM class.
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* It is safe because it implements the MotorSafety interface that provides timeouts
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* in the event that the motor value is not updated before the expiration time.
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* This delegates the actual work to a MotorSafetyHelper object that is used for all
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* objects that implement MotorSafety.
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*/
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class SafePWM: public PWM, public MotorSafety
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{
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public:
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explicit SafePWM(uint32_t channel);
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SafePWM(uint8_t moduleNumber, uint32_t channel);
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~SafePWM();
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void SetExpiration(float timeout);
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float GetExpiration();
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bool IsAlive();
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void StopMotor();
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bool IsSafetyEnabled();
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void SetSafetyEnabled(bool enabled);
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void GetDescription(char *desc);
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virtual void SetSpeed(float speed);
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private:
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void InitSafePWM();
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MotorSafetyHelper *m_safetyHelper;
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};
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#endif
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