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https://github.com/wpilibsuite/allwpilib
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89 lines
2.6 KiB
C++
89 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#include "SafePWM.h"
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/**
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* Constructor for a SafePWM object taking a channel number.
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*
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* @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP
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* port
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*/
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SafePWM::SafePWM(uint32_t channel) : PWM(channel) {
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m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
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m_safetyHelper->SetSafetyEnabled(false);
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}
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/**
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* Set the expiration time for the PWM object.
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*
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* @param timeout The timeout (in seconds) for this motor object
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*/
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void SafePWM::SetExpiration(float timeout) {
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m_safetyHelper->SetExpiration(timeout);
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}
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/**
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* Return the expiration time for the PWM object.
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*
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* @returns The expiration time value.
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*/
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float SafePWM::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
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/**
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* Check if the PWM object is currently alive or stopped due to a timeout.
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*
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* @return a bool value that is true if the motor has NOT timed out and should
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* still be running.
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*/
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bool SafePWM::IsAlive() const { return m_safetyHelper->IsAlive(); }
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/**
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* Stop the motor associated with this PWM object.
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*
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* This is called by the MotorSafetyHelper object when it has a timeout for this
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* PWM and needs to stop it from running.
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*/
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void SafePWM::StopMotor() { SetDisabled(); }
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/**
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* Enable/disable motor safety for this device.
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*
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* Turn on and off the motor safety option for this PWM object.
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*
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* @param enabled True if motor safety is enforced for this object
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*/
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void SafePWM::SetSafetyEnabled(bool enabled) {
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m_safetyHelper->SetSafetyEnabled(enabled);
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}
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/**
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* Check if motor safety is enabled for this object.
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*
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* @returns True if motor safety is enforced for this object
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*/
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bool SafePWM::IsSafetyEnabled() const {
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return m_safetyHelper->IsSafetyEnabled();
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}
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void SafePWM::GetDescription(std::ostringstream& desc) const {
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desc << "PWM " << GetChannel();
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}
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/**
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* Feed the MotorSafety timer when setting the speed.
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*
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* This method is called by the subclass motor whenever it updates its speed,
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* thereby reseting the timeout value.
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*
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* @param speed Value to pass to the PWM class
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*/
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void SafePWM::SetSpeed(float speed) {
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PWM::SetSpeed(speed);
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m_safetyHelper->Feed();
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}
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