74 lines
2.6 KiB
C
74 lines
2.6 KiB
C
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/*----------------------------------------------------------------------------*/
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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 "MotorSafety.h"
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#include "SensorBase.h"
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#include "tables/ITableListener.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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#include <memory>
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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
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* a pair of pins that are either both off, one on, the other on, or both on.
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* This translates into
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* two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at
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* 12v, or two
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* spike outputs at 12V. This allows off, full forward, or full reverse control
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* of motors without
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* variable speed. It also allows the two channels (forward and reverse) to be
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* used independently
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* for something that does not care about voltage polatiry (like 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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