43 lines
1.4 KiB
C++
43 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 "MotorSafety.h"
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#include "PWM.h"
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#include "MotorSafetyHelper.h"
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#include <memory>
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#include <sstream>
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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
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* in the event that the motor value is not updated before the expiration time.
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* This delegates the actual work to a MotorSafetyHelper object that is used for
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* all
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* 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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