| 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 __SAFE_PWM__
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| 8 | #define __SAFE_PWM__
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| 9 |
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| 10 | #include "MotorSafety.h"
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| 11 | #include "PWM.h"
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| 12 |
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| 13 | class MotorSafetyHelper;
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| 14 |
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| 15 | /**
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| 16 | * A safe version of the PWM class.
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| 17 | * It is safe because it implements the MotorSafety interface that provides timeouts
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| 18 | * in the event that the motor value is not updated before the expiration time.
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| 19 | * This delegates the actual work to a MotorSafetyHelper object that is used for all
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| 20 | * objects that implement MotorSafety.
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| 21 | */
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| 22 | class SafePWM: public PWM, public MotorSafety
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| 23 | {
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| 24 | public:
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| 25 | explicit SafePWM(UINT32 channel);
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| 26 | SafePWM(UINT8 moduleNumber, UINT32 channel);
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| 27 | ~SafePWM();
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| 28 |
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| 29 | void SetExpiration(float timeout);
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| 30 | float GetExpiration();
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| 31 | bool IsAlive();
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| 32 | void StopMotor();
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| 33 | bool IsSafetyEnabled();
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| 34 | void SetSafetyEnabled(bool enabled);
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| 35 | void GetDescription(char *desc);
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| 36 |
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| 37 | virtual void SetSpeed(float speed);
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| 38 | private:
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| 39 | void InitSafePWM();
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| 40 | MotorSafetyHelper *m_safetyHelper;
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| 41 | };
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| 42 |
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| 43 | #endif
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