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https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
46 lines
1.4 KiB
C++
46 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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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#include "llvm/raw_ostream.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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* 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(llvm::raw_ostream& 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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