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https://github.com/wpilibsuite/allwpilib
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6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "SafePWM.h"
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/**
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* Constructor for a SafePWM object taking a channel number.
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* @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP
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* port
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*/
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SafePWM::SafePWM(uint32_t channel) : PWM(channel) {
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m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
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m_safetyHelper->SetSafetyEnabled(false);
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}
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/**
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* Set the expiration time for the PWM object
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* @param timeout The timeout (in seconds) for this motor object
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*/
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void SafePWM::SetExpiration(float timeout) {
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m_safetyHelper->SetExpiration(timeout);
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}
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/**
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* Return the expiration time for the PWM object.
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* @returns The expiration time value.
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*/
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float SafePWM::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
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/**
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* Check if the PWM object is currently alive or stopped due to a timeout.
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* @returns a bool value that is true if the motor has NOT timed out and should
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* still
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* be running.
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*/
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bool SafePWM::IsAlive() const { return m_safetyHelper->IsAlive(); }
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/**
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* Stop the motor associated with this PWM object.
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* This is called by the MotorSafetyHelper object when it has a timeout for this
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* PWM and needs to
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* stop it from running.
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*/
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void SafePWM::StopMotor() { SetRaw(kPwmDisabled); }
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/**
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* Enable/disable motor safety for this device
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* Turn on and off the motor safety option for this PWM object.
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* @param enabled True if motor safety is enforced for this object
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*/
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void SafePWM::SetSafetyEnabled(bool enabled) {
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m_safetyHelper->SetSafetyEnabled(enabled);
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}
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/**
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* Check if motor safety is enabled for this object
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* @returns True if motor safety is enforced for this object
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*/
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bool SafePWM::IsSafetyEnabled() const {
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return m_safetyHelper->IsSafetyEnabled();
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}
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void SafePWM::GetDescription(std::ostringstream& desc) const {
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desc << "PWM " << GetChannel();
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}
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/**
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* Feed the MotorSafety timer when setting the speed.
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* This method is called by the subclass motor whenever it updates its speed,
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* thereby reseting
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* the timeout value.
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* @param speed Value to pass to the PWM class
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*/
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void SafePWM::SetSpeed(float speed) {
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PWM::SetSpeed(speed);
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m_safetyHelper->Feed();
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}
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