Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/include/Relay.h b/wpilibc/Athena/include/Relay.h
new file mode 100644
index 0000000..f582221
--- /dev/null
+++ b/wpilibc/Athena/include/Relay.h
@@ -0,0 +1,72 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#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;
+};