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.
71 lines
2.6 KiB
C++
71 lines
2.6 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 "LiveWindow/LiveWindowSendable.h"
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#include "MotorSafety.h"
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#include "SensorBase.h"
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#include "tables/ITable.h"
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#include "tables/ITableListener.h"
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class MotorSafetyHelper;
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/**
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* Class for Spike style relay outputs.
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* Relays are intended to be connected to spikes or similar relays. The relay
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* channels controls a pair of pins that are either both off, one on, the other
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* on, or both on. This translates into two spike outputs at 0v, one at 12v and
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* one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
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* allows off, full forward, or full reverse control of motors without variable
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* speed. It also allows the two channels (forward and reverse) to be used
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* independently for something that does not care about voltage polarity (like
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* a solenoid).
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*/
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class Relay : public MotorSafety,
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public SensorBase,
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public ITableListener,
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public LiveWindowSendable {
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public:
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enum Value { kOff, kOn, kForward, kReverse };
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enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
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Relay(uint32_t channel, Direction direction = kBothDirections);
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virtual ~Relay();
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void Set(Value value);
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Value Get() const;
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uint32_t GetChannel() const;
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void SetExpiration(float timeout) override;
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float GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(std::ostringstream& desc) const override;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table;
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private:
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uint32_t m_channel;
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Direction m_direction;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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};
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