| /*----------------------------------------------------------------------------*/ |
| /* 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 |
| |
| #define DEFAULT_SAFETY_EXPIRATION 0.1 |
| |
| #include <sstream> |
| |
| namespace frc { |
| |
| class MotorSafety { |
| public: |
| virtual void SetExpiration(double timeout) = 0; |
| virtual double GetExpiration() const = 0; |
| virtual bool IsAlive() const = 0; |
| virtual void StopMotor() = 0; |
| virtual void SetSafetyEnabled(bool enabled) = 0; |
| virtual bool IsSafetyEnabled() const = 0; |
| virtual void GetDescription(std::ostringstream& desc) const = 0; |
| }; |
| |
| } // namespace frc |