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/SafePWM.h b/wpilibc/Athena/include/SafePWM.h
new file mode 100644
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--- /dev/null
+++ b/wpilibc/Athena/include/SafePWM.h
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "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;
+};