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https://github.com/wpilibsuite/allwpilib
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5598445a67
See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148 Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682
39 lines
1.2 KiB
C++
39 lines
1.2 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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#pragma once
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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();
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void SetExpiration(float timeout);
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float GetExpiration() const;
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bool IsAlive() const;
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void StopMotor();
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bool IsSafetyEnabled() const;
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void SetSafetyEnabled(bool enabled);
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void GetDescription(char *desc) const;
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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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