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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
46 lines
1.4 KiB
C++
46 lines
1.4 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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#pragma once
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#include <memory>
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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#include "PWM.h"
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namespace frc {
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/**
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* A safe version of the PWM class.
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*
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* It is safe because it implements the MotorSafety interface that provides
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* timeouts in the event that the motor value is not updated before the
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* expiration time. This delegates the actual work to a MotorSafetyHelper
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* object that is used for all objects that implement MotorSafety.
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*/
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class SafePWM : public PWM, public MotorSafety {
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public:
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explicit SafePWM(int channel);
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virtual ~SafePWM() = default;
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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(std::ostringstream& desc) const;
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virtual void SetSpeed(float speed);
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private:
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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};
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} // namespace frc
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