| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #include "SafePWM.h"
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| 8 |
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| 9 | #include "MotorSafetyHelper.h"
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| 10 |
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| 11 | /**
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| 12 | * Initialize a SafePWM object by setting defaults
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| 13 | */
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| 14 | void SafePWM::InitSafePWM()
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| 15 | {
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| 16 | m_safetyHelper = new MotorSafetyHelper(this);
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| 17 | m_safetyHelper->SetSafetyEnabled(false);
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| 18 | }
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| 19 |
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| 20 | /**
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| 21 | * Constructor for a SafePWM object taking a channel number
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| 22 | * @param channel The channel number to be used for the underlying PWM object
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| 23 | */
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| 24 | SafePWM::SafePWM(UINT32 channel): PWM(channel)
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| 25 | {
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| 26 | InitSafePWM();
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| 27 | }
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| 28 |
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| 29 | /**
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| 30 | * Constructor for a SafePWM object taking channel and slot numbers.
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| 31 | * @param moduleNumber The digital module (1 or 2).
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| 32 | * @param channel The PWM channel number on the module (1..10).
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| 33 | */
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| 34 | SafePWM::SafePWM(UINT8 moduleNumber, UINT32 channel): PWM(moduleNumber, channel)
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| 35 | {
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| 36 | InitSafePWM();
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| 37 | }
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| 38 |
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| 39 | SafePWM::~SafePWM()
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| 40 | {
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| 41 | delete m_safetyHelper;
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| 42 | }
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| 43 |
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| 44 | /*
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| 45 | * Set the expiration time for the PWM object
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| 46 | * @param timeout The timeout (in seconds) for this motor object
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| 47 | */
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| 48 | void SafePWM::SetExpiration(float timeout)
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| 49 | {
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| 50 | m_safetyHelper->SetExpiration(timeout);
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| 51 | }
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| 52 |
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| 53 | /**
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| 54 | * Return the expiration time for the PWM object.
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| 55 | * @returns The expiration time value.
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| 56 | */
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| 57 | float SafePWM::GetExpiration()
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| 58 | {
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| 59 | return m_safetyHelper->GetExpiration();
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| 60 | }
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| 61 |
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| 62 | /**
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| 63 | * Check if the PWM object is currently alive or stopped due to a timeout.
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| 64 | * @returns a bool value that is true if the motor has NOT timed out and should still
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| 65 | * be running.
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| 66 | */
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| 67 | bool SafePWM::IsAlive()
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| 68 | {
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| 69 | return m_safetyHelper->IsAlive();
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| 70 | }
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| 71 |
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| 72 | /**
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| 73 | * Stop the motor associated with this PWM object.
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| 74 | * This is called by the MotorSafetyHelper object when it has a timeout for this PWM and needs to
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| 75 | * stop it from running.
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| 76 | */
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| 77 | void SafePWM::StopMotor()
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| 78 | {
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| 79 | SetRaw(kPwmDisabled);
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| 80 | }
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| 81 |
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| 82 | /**
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| 83 | * Enable/disable motor safety for this device
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| 84 | * Turn on and off the motor safety option for this PWM object.
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| 85 | * @param enabled True if motor safety is enforced for this object
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| 86 | */
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| 87 | void SafePWM::SetSafetyEnabled(bool enabled)
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| 88 | {
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| 89 | m_safetyHelper->SetSafetyEnabled(enabled);
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| 90 | }
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| 91 |
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| 92 | /**
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| 93 | * Check if motor safety is enabled for this object
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| 94 | * @returns True if motor safety is enforced for this object
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| 95 | */
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| 96 | bool SafePWM::IsSafetyEnabled()
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| 97 | {
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| 98 | return m_safetyHelper->IsSafetyEnabled();
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| 99 | }
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| 100 |
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| 101 | void SafePWM::GetDescription(char *desc)
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| 102 | {
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| 103 | sprintf(desc, "PWM %d on module %d", GetChannel(), GetModuleNumber());
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| 104 | }
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| 105 |
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| 106 | /**
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| 107 | * Feed the MotorSafety timer when setting the speed.
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| 108 | * This method is called by the subclass motor whenever it updates its speed, thereby reseting
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| 109 | * the timeout value.
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| 110 | * @param speed Value to pass to the PWM class
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| 111 | */
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| 112 | void SafePWM::SetSpeed(float speed)
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| 113 | {
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| 114 | PWM::SetSpeed(speed);
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| 115 | m_safetyHelper->Feed();
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| 116 | }
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| 117 |
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