| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
|
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
|
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
|
| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
| 5 | /*----------------------------------------------------------------------------*/
|
| 6 |
|
| 7 | #ifndef RELAY_H_
|
| 8 | #define RELAY_H_
|
| 9 |
|
| 10 | #include "SensorBase.h"
|
| 11 | #include "tables/ITableListener.h"
|
| 12 | #include "LiveWindow/LiveWindowSendable.h"
|
| 13 | #include "tables/ITable.h"
|
| 14 |
|
| 15 | class DigitalModule;
|
| 16 |
|
| 17 | /**
|
| 18 | * Class for Spike style relay outputs.
|
| 19 | * Relays are intended to be connected to spikes or similar relays. The relay channels controls
|
| 20 | * a pair of pins that are either both off, one on, the other on, or both on. This translates into
|
| 21 | * two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
|
| 22 | * spike outputs at 12V. This allows off, full forward, or full reverse control of motors without
|
| 23 | * variable speed. It also allows the two channels (forward and reverse) to be used independently
|
| 24 | * for something that does not care about voltage polatiry (like a solenoid).
|
| 25 | */
|
| 26 | class Relay : public SensorBase, public ITableListener, public LiveWindowSendable {
|
| 27 | public:
|
| 28 | typedef enum {kOff, kOn, kForward, kReverse} Value;
|
| 29 | typedef enum {kBothDirections, kForwardOnly, kReverseOnly} Direction;
|
| 30 |
|
| 31 | Relay(UINT32 channel, Direction direction = kBothDirections);
|
| 32 | Relay(UINT8 moduleNumber, UINT32 channel, Direction direction = kBothDirections);
|
| 33 | virtual ~Relay();
|
| 34 |
|
| 35 | void Set(Value value);
|
| 36 | Value Get();
|
| 37 |
|
| 38 | void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
|
| 39 | void UpdateTable();
|
| 40 | void StartLiveWindowMode();
|
| 41 | void StopLiveWindowMode();
|
| 42 | std::string GetSmartDashboardType();
|
| 43 | void InitTable(ITable *subTable);
|
| 44 | ITable * GetTable();
|
| 45 |
|
| 46 | ITable *m_table;
|
| 47 |
|
| 48 | private:
|
| 49 | void InitRelay(UINT8 moduleNumber);
|
| 50 |
|
| 51 | UINT32 m_channel;
|
| 52 | Direction m_direction;
|
| 53 | DigitalModule *m_module;
|
| 54 | };
|
| 55 |
|
| 56 | #endif
|