| 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 | #ifndef WATCHDOG_H
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| 8 | #define WATCHDOG_H
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| 9 |
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| 10 | #include "ChipObject.h"
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| 11 | #include "SensorBase.h"
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| 12 | #include "Base.h"
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| 13 |
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| 14 | /**
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| 15 | * Watchdog timer class.
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| 16 | * The watchdog timer is designed to keep the robots safe. The idea is that the robot program must
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| 17 | * constantly "feed" the watchdog otherwise it will shut down all the motor outputs. That way if a
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| 18 | * program breaks, rather than having the robot continue to operate at the last known speed, the
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| 19 | * motors will be shut down.
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| 20 | *
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| 21 | * This is serious business. Don't just disable the watchdog. You can't afford it!
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| 22 | *
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| 23 | * http://thedailywtf.com/Articles/_0x2f__0x2f_TODO_0x3a__Uncomment_Later.aspx
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| 24 | */
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| 25 | class Watchdog : public SensorBase
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| 26 | {
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| 27 | public:
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| 28 | static const double kDefaultWatchdogExpiration = 0.5;
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| 29 |
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| 30 | Watchdog();
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| 31 | virtual ~Watchdog();
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| 32 | bool Feed();
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| 33 | void Kill();
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| 34 | double GetTimer();
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| 35 | double GetExpiration();
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| 36 | void SetExpiration(double expiration);
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| 37 | bool GetEnabled();
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| 38 | void SetEnabled(bool enabled);
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| 39 | bool IsAlive();
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| 40 | bool IsSystemActive();
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| 41 |
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| 42 | private:
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| 43 | tWatchdog *m_fpgaWatchDog;
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| 44 | DISALLOW_COPY_AND_ASSIGN(Watchdog);
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| 45 | };
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| 46 |
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| 47 | #endif
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