mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "HAL/Types.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "MotorSafety.h"
|
|
#include "SensorBase.h"
|
|
#include "tables/ITable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
namespace frc {
|
|
|
|
class MotorSafetyHelper;
|
|
|
|
/**
|
|
* Class for Spike style relay outputs.
|
|
* Relays are intended to be connected to spikes or similar relays. The relay
|
|
* channels controls a pair of pins that are either both off, one on, the other
|
|
* on, or both on. This translates into two spike outputs at 0v, one at 12v and
|
|
* one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
|
|
* allows off, full forward, or full reverse control of motors without variable
|
|
* speed. It also allows the two channels (forward and reverse) to be used
|
|
* independently for something that does not care about voltage polarity (like
|
|
* a solenoid).
|
|
*/
|
|
class Relay : public MotorSafety,
|
|
public SensorBase,
|
|
public ITableListener,
|
|
public LiveWindowSendable {
|
|
public:
|
|
enum Value { kOff, kOn, kForward, kReverse };
|
|
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
|
|
|
|
explicit Relay(int channel, Direction direction = kBothDirections);
|
|
virtual ~Relay();
|
|
|
|
void Set(Value value);
|
|
Value Get() const;
|
|
int GetChannel() const;
|
|
|
|
void SetExpiration(double timeout) override;
|
|
double GetExpiration() const override;
|
|
bool IsAlive() const override;
|
|
void StopMotor() override;
|
|
bool IsSafetyEnabled() const override;
|
|
void SetSafetyEnabled(bool enabled) override;
|
|
void GetDescription(std::ostringstream& desc) const override;
|
|
|
|
void ValueChanged(ITable* source, llvm::StringRef key,
|
|
std::shared_ptr<nt::Value> value, bool isNew) override;
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
|
|
private:
|
|
int m_channel;
|
|
Direction m_direction;
|
|
|
|
HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
|
|
HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
|
|
|
|
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
|
|
};
|
|
|
|
} // namespace frc
|