| 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 RELAY_H_
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| 8 | #define RELAY_H_
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| 9 |
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| 10 | #include "SensorBase.h"
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| 11 | #include "tables/ITableListener.h"
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| 12 | #include "LiveWindow/LiveWindowSendable.h"
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| 13 | #include "tables/ITable.h"
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| 14 |
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| 15 | class DigitalModule;
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| 16 |
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| 17 | /**
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| 18 | * Class for Spike style relay outputs.
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| 19 | * Relays are intended to be connected to spikes or similar relays. The relay channels controls
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| 20 | * a pair of pins that are either both off, one on, the other on, or both on. This translates into
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| 21 | * two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
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| 22 | * spike outputs at 12V. This allows off, full forward, or full reverse control of motors without
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| 23 | * variable speed. It also allows the two channels (forward and reverse) to be used independently
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| 24 | * for something that does not care about voltage polatiry (like a solenoid).
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| 25 | */
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| 26 | class Relay : public SensorBase, public ITableListener, public LiveWindowSendable {
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| 27 | public:
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| 28 | typedef enum {kOff, kOn, kForward, kReverse} Value;
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| 29 | typedef enum {kBothDirections, kForwardOnly, kReverseOnly} Direction;
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| 30 |
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| 31 | Relay(UINT32 channel, Direction direction = kBothDirections);
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| 32 | Relay(UINT8 moduleNumber, UINT32 channel, Direction direction = kBothDirections);
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| 33 | virtual ~Relay();
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| 34 |
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| 35 | void Set(Value value);
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| 36 | Value Get();
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| 37 |
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| 38 | void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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| 39 | void UpdateTable();
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| 40 | void StartLiveWindowMode();
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| 41 | void StopLiveWindowMode();
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| 42 | std::string GetSmartDashboardType();
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| 43 | void InitTable(ITable *subTable);
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| 44 | ITable * GetTable();
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| 45 |
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| 46 | ITable *m_table;
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| 47 |
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| 48 | private:
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| 49 | void InitRelay(UINT8 moduleNumber);
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| 50 |
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| 51 | UINT32 m_channel;
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| 52 | Direction m_direction;
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| 53 | DigitalModule *m_module;
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| 54 | };
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| 55 |
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| 56 | #endif
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