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FRC2016-old/DriveBase/wpilib/cpp/current/include/SafePWM.h
2016-01-28 11:33:19 -05:00

43 lines
1.4 KiB
C++

/*----------------------------------------------------------------------------*/
/* 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 "PWM.h"
#include "MotorSafetyHelper.h"
#include <memory>
#include <sstream>
/**
* A safe version of the PWM class.
* It is safe because it implements the MotorSafety interface that provides
* timeouts
* in the event that the motor value is not updated before the expiration time.
* This delegates the actual work to a MotorSafetyHelper object that is used for
* all
* objects that implement MotorSafety.
*/
class SafePWM : public PWM, public MotorSafety {
public:
explicit SafePWM(uint32_t channel);
virtual ~SafePWM() = default;
void SetExpiration(float timeout);
float GetExpiration() const;
bool IsAlive() const;
void StopMotor();
bool IsSafetyEnabled() const;
void SetSafetyEnabled(bool enabled);
void GetDescription(std::ostringstream& desc) const;
virtual void SetSpeed(float speed);
private:
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
};