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FRC2016-old/DriveBase/wpilib/cpp/current/include/Relay.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "MotorSafety.h"
#include "SensorBase.h"
#include "tables/ITableListener.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITable.h"
#include <memory>
class MotorSafetyHelper;
/**
* Class for Spike style relay outputs.
* Relays are intended to be connected to spikes or similar relays. The relay
* channels controls
* a pair of pins that are either both off, one on, the other on, or both on.
* This translates into
* two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at
* 12v, or two
* spike outputs at 12V. This allows off, full forward, or full reverse control
* of motors without
* variable speed. It also allows the two channels (forward and reverse) to be
* used independently
* for something that does not care about voltage polatiry (like a solenoid).
*/
class Relay : public MotorSafety,
public SensorBase,
public ITableListener,
public LiveWindowSendable {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
Relay(uint32_t channel, Direction direction = kBothDirections);
virtual ~Relay();
void Set(Value value);
Value Get() const;
uint32_t GetChannel() const;
void SetExpiration(float timeout) override;
float GetExpiration() const override;
bool IsAlive() const override;
void StopMotor() override;
bool IsSafetyEnabled() const override;
void SetSafetyEnabled(bool enabled) override;
void GetDescription(std::ostringstream& desc) const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<ITable> m_table;
private:
uint32_t m_channel;
Direction m_direction;
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
};