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
40 lines
1.2 KiB
C++
40 lines
1.2 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 "MotorSafety.h"
|
|
#include "PWM.h"
|
|
|
|
class MotorSafetyHelper;
|
|
|
|
/**
|
|
* A safe version of the PWM class.
|
|
* It is safe because it implements the MotorSafety interface that provides timeouts
|
|
* in the event that the motor value is not updated before the expiration time.
|
|
* This delegates the actual work to a MotorSafetyHelper object that is used for all
|
|
* objects that implement MotorSafety.
|
|
*/
|
|
class SafePWM : public PWM, public MotorSafety
|
|
{
|
|
public:
|
|
explicit SafePWM(uint32_t channel);
|
|
SafePWM(uint8_t moduleNumber, uint32_t channel);
|
|
~SafePWM();
|
|
|
|
void SetExpiration(float timeout);
|
|
float GetExpiration();
|
|
bool IsAlive();
|
|
void StopMotor();
|
|
bool IsSafetyEnabled();
|
|
void SetSafetyEnabled(bool enabled);
|
|
void GetDescription(char *desc);
|
|
|
|
virtual void SetSpeed(float speed);
|
|
private:
|
|
void InitSafePWM();
|
|
MotorSafetyHelper *m_safetyHelper;
|
|
};
|