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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
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(double timeout);
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double 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(double 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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