Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/Relay.h b/wpilibc/athena/include/Relay.h
new file mode 100644
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+++ b/wpilibc/athena/include/Relay.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "MotorSafety.h"
+#include "SensorBase.h"
+#include "tables/ITable.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+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 polarity (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 };
+
+ explicit Relay(int channel, Direction direction = kBothDirections);
+ virtual ~Relay();
+
+ void Set(Value value);
+ Value Get() const;
+ int GetChannel() const;
+
+ void SetExpiration(double timeout) override;
+ double 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:
+ int m_channel;
+ Direction m_direction;
+
+ HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
+ HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
+
+ std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
+};
+
+} // namespace frc