mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
42 lines
1.4 KiB
C++
42 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 <sstream>
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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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/**
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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(uint32_t channel);
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virtual ~SafePWM() = default;
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void SetExpiration(float timeout);
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float 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(float speed);
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private:
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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};
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