mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
8d961dfd25
Replace with new exception-based error reporting, consistent with Java. This also builds stacktraces into the reporting/exceptions.
107 lines
3.1 KiB
C++
107 lines
3.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include <hal/Types.h>
|
|
#include <wpi/raw_ostream.h>
|
|
|
|
#include "frc/MotorSafety.h"
|
|
#include "frc/smartdashboard/Sendable.h"
|
|
#include "frc/smartdashboard/SendableHelper.h"
|
|
|
|
namespace frc {
|
|
|
|
class SendableBuilder;
|
|
|
|
/**
|
|
* 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 polarity (like
|
|
* a solenoid).
|
|
*/
|
|
class Relay : public MotorSafety,
|
|
public Sendable,
|
|
public SendableHelper<Relay> {
|
|
public:
|
|
enum Value { kOff, kOn, kForward, kReverse };
|
|
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
|
|
|
|
/**
|
|
* Relay constructor given a channel.
|
|
*
|
|
* This code initializes the relay and reserves all resources that need to be
|
|
* locked. Initially the relay is set to both lines at 0v.
|
|
*
|
|
* @param channel The channel number (0-3).
|
|
* @param direction The direction that the Relay object will control.
|
|
*/
|
|
explicit Relay(int channel, Direction direction = kBothDirections);
|
|
|
|
/**
|
|
* Free the resource associated with a relay.
|
|
*
|
|
* The relay channels are set to free and the relay output is turned off.
|
|
*/
|
|
~Relay() override;
|
|
|
|
Relay(Relay&&) = default;
|
|
Relay& operator=(Relay&&) = default;
|
|
|
|
/**
|
|
* Set the relay state.
|
|
*
|
|
* Valid values depend on which directions of the relay are controlled by the
|
|
* object.
|
|
*
|
|
* When set to kBothDirections, the relay can be any of the four states:
|
|
* 0v-0v, 0v-12v, 12v-0v, 12v-12v
|
|
*
|
|
* When set to kForwardOnly or kReverseOnly, you can specify the constant for
|
|
* the direction or you can simply specify kOff and kOn. Using only kOff and
|
|
* kOn is recommended.
|
|
*
|
|
* @param value The state to set the relay.
|
|
*/
|
|
void Set(Value value);
|
|
|
|
/**
|
|
* Get the Relay State
|
|
*
|
|
* Gets the current state of the relay.
|
|
*
|
|
* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
|
|
* kForward/kReverse (per the recommendation in Set).
|
|
*
|
|
* @return The current state of the relay as a Relay::Value
|
|
*/
|
|
Value Get() const;
|
|
|
|
int GetChannel() const;
|
|
|
|
// MotorSafety interface
|
|
void StopMotor() override;
|
|
|
|
void GetDescription(wpi::raw_ostream& desc) const override;
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
int m_channel;
|
|
Direction m_direction;
|
|
|
|
hal::Handle<HAL_RelayHandle> m_forwardHandle;
|
|
hal::Handle<HAL_RelayHandle> m_reverseHandle;
|
|
};
|
|
|
|
} // namespace frc
|