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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
118 lines
2.9 KiB
C++
118 lines
2.9 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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#include "SafePWM.h"
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#include "MotorSafetyHelper.h"
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/**
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* Initialize a SafePWM object by setting defaults
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*/
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void SafePWM::InitSafePWM()
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{
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m_safetyHelper = new MotorSafetyHelper(this);
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m_safetyHelper->SetSafetyEnabled(false);
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}
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/**
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* Constructor for a SafePWM object taking a channel number
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* @param channel The channel number to be used for the underlying PWM object
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*/
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SafePWM::SafePWM(uint32_t channel): PWM(channel)
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{
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InitSafePWM();
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}
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/**
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* Constructor for a SafePWM object taking channel and slot numbers.
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* @param moduleNumber The digital module (1 or 2).
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* @param channel The PWM channel number on the module (1..10).
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*/
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SafePWM::SafePWM(uint8_t moduleNumber, uint32_t channel): PWM(moduleNumber, channel)
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{
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InitSafePWM();
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}
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SafePWM::~SafePWM()
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{
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delete m_safetyHelper;
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}
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/*
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* Set the expiration time for the PWM object
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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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{
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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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* @returns The expiration time value.
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*/
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float SafePWM::GetExpiration()
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{
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return m_safetyHelper->GetExpiration();
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}
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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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* @returns a bool value that is true if the motor has NOT timed out and should still
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* be running.
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*/
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bool SafePWM::IsAlive()
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{
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return m_safetyHelper->IsAlive();
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}
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/**
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* Stop the motor associated with this PWM object.
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* This is called by the MotorSafetyHelper object when it has a timeout for this PWM and needs to
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* stop it from running.
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*/
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void SafePWM::StopMotor()
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{
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SetRaw(kPwmDisabled);
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}
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/**
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* Enable/disable motor safety for this device
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* Turn on and off the motor safety option for this PWM object.
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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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{
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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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* @returns True if motor safety is enforced for this object
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*/
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bool SafePWM::IsSafetyEnabled()
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{
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return m_safetyHelper->IsSafetyEnabled();
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}
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void SafePWM::GetDescription(char *desc)
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{
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sprintf(desc, "PWM %ld on module %ld", GetChannel(), GetModuleNumber());
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}
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/**
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* Feed the MotorSafety timer when setting the speed.
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* This method is called by the subclass motor whenever it updates its speed, thereby reseting
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* the timeout value.
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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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{
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PWM::SetSpeed(speed);
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m_safetyHelper->Feed();
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}
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