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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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 <wpi/raw_ostream.h>
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#include "frc/ErrorBase.h"
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#include "frc/MotorSafety.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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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,
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public Sendable,
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public SendableHelper<Relay> {
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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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/**
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* Relay constructor given a channel.
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*
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* This code initializes the relay and reserves all resources that need to be
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* locked. Initially the relay is set to both lines at 0v.
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*
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* @param channel The channel number (0-3).
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* @param direction The direction that the Relay object will control.
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*/
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explicit Relay(int channel, Direction direction = kBothDirections);
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/**
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* Free the resource associated with a relay.
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*
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* The relay channels are set to free and the relay output is turned off.
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*/
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~Relay() override;
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Relay(Relay&&) = default;
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Relay& operator=(Relay&&) = default;
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/**
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* Set the relay state.
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*
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* Valid values depend on which directions of the relay are controlled by the
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* object.
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*
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* When set to kBothDirections, the relay can be any of the four states:
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* 0v-0v, 0v-12v, 12v-0v, 12v-12v
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*
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* When set to kForwardOnly or kReverseOnly, you can specify the constant for
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* the direction or you can simply specify kOff and kOn. Using only kOff and
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* kOn is recommended.
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*
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* @param value The state to set the relay.
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*/
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void Set(Value value);
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/**
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* Get the Relay State
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*
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* Gets the current state of the relay.
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*
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* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
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* kForward/kReverse (per the recommendation in Set).
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*
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* @return The current state of the relay as a Relay::Value
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*/
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Value Get() const;
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int GetChannel() const;
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// MotorSafety interface
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void StopMotor() override;
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void GetDescription(wpi::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::Handle<HAL_RelayHandle> m_forwardHandle;
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hal::Handle<HAL_RelayHandle> m_reverseHandle;
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};
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} // namespace frc
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