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https://github.com/wpilibsuite/allwpilib
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5ddacb43c1
Made the wpilibC++Sim codebase's motor control as similar to the wpilibC++ motor control as possible. Change-Id: I5510d952cb40c4a3def210f46a566d7102d604ee
107 lines
2.5 KiB
C++
107 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "SafePWM.h"
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#include "MotorSafetyHelper.h"
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/**
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* Initialize a SafePWM object by setting defaults
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*/
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void SafePWM::InitSafePWM()
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{
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m_safetyHelper = new MotorSafetyHelper(this);
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m_safetyHelper->SetSafetyEnabled(false);
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}
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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..19).
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*/
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SafePWM::SafePWM(uint32_t channel): PWM(channel)
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{
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InitSafePWM();
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}
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SafePWM::~SafePWM()
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{
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delete m_safetyHelper;
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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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{
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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()
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{
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return m_safetyHelper->GetExpiration();
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}
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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 still
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* be running.
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*/
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bool SafePWM::IsAlive()
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{
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return m_safetyHelper->IsAlive();
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}
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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 PWM and needs to
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* stop it from running.
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*/
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void SafePWM::StopMotor()
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{
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SetRaw(kPwmDisabled);
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}
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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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{
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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()
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{
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return m_safetyHelper->IsSafetyEnabled();
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}
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void SafePWM::GetDescription(char *desc)
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{
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sprintf(desc, "PWM %d", 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, 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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{
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PWM::SetSpeed(speed);
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m_safetyHelper->Feed();
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}
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