mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "SensorBase.h"
|
|
#include "tables/ITableListener.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITable.h"
|
|
|
|
class DigitalModule;
|
|
|
|
/**
|
|
* 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 polatiry (like a solenoid).
|
|
*/
|
|
class Relay : public SensorBase, public ITableListener, public LiveWindowSendable
|
|
{
|
|
public:
|
|
enum Value
|
|
{
|
|
kOff,
|
|
kOn,
|
|
kForward,
|
|
kReverse
|
|
};
|
|
enum Direction
|
|
{
|
|
kBothDirections,
|
|
kForwardOnly,
|
|
kReverseOnly
|
|
};
|
|
|
|
Relay(uint32_t channel, Direction direction = kBothDirections);
|
|
Relay(uint8_t moduleNumber, uint32_t channel, Direction direction = kBothDirections);
|
|
virtual ~Relay();
|
|
|
|
void Set(Value value);
|
|
Value Get();
|
|
|
|
void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType();
|
|
void InitTable(ITable *subTable);
|
|
ITable * GetTable();
|
|
|
|
ITable *m_table;
|
|
|
|
private:
|
|
void InitRelay(uint8_t moduleNumber);
|
|
|
|
uint32_t m_channel;
|
|
Direction m_direction;
|
|
DigitalModule *m_module;
|
|
};
|