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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
103 lines
2.8 KiB
C++
103 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 <wpi/raw_ostream.h>
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#include "frc/MotorSafety.h"
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#include "frc/MotorSafetyHelper.h"
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#include "frc/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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/**
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* Constructor for a SafePWM object taking a channel number.
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*
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* @param channel The PWM channel number 0-9 are on-board, 10-19 are on the
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* MXP port
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*/
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explicit SafePWM(int channel);
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virtual ~SafePWM() = default;
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/**
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* Set the expiration time for the PWM object.
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*
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* @param timeout The timeout (in seconds) for this motor object
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*/
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void SetExpiration(double timeout);
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/**
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* Return the expiration time for the PWM object.
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*
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* @returns The expiration time value.
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*/
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double GetExpiration() const;
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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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*
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* @return a bool value that is true if the motor has NOT timed out and should
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* still be running.
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*/
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bool IsAlive() const;
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/**
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* Stop the motor associated with this PWM object.
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*
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* This is called by the MotorSafetyHelper object when it has a timeout for
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* this PWM and needs to stop it from running.
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*/
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void StopMotor();
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/**
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* Enable/disable motor safety for this device.
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*
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* Turn on and off the motor safety option for this PWM object.
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*
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* @param enabled True if motor safety is enforced for this object
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*/
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void SetSafetyEnabled(bool enabled);
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/**
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* Check if motor safety is enabled for this object.
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*
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* @returns True if motor safety is enforced for this object
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*/
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bool IsSafetyEnabled() const;
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void GetDescription(wpi::raw_ostream& desc) const;
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/**
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* Feed the MotorSafety timer when setting the speed.
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*
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* This method is called by the subclass motor whenever it updates its speed,
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* thereby reseting the timeout value.
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*
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* @param speed Value to pass to the PWM class
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*/
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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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