| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008-2017. 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 the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #define DEFAULT_SAFETY_EXPIRATION 0.1 |
| 11 | |
| 12 | #include <sstream> |
| 13 | |
| 14 | namespace frc { |
| 15 | |
| 16 | class MotorSafety { |
| 17 | public: |
| 18 | virtual void SetExpiration(double timeout) = 0; |
| 19 | virtual double GetExpiration() const = 0; |
| 20 | virtual bool IsAlive() const = 0; |
| 21 | virtual void StopMotor() = 0; |
| 22 | virtual void SetSafetyEnabled(bool enabled) = 0; |
| 23 | virtual bool IsSafetyEnabled() const = 0; |
| 24 | virtual void GetDescription(std::ostringstream& desc) const = 0; |
| 25 | }; |
| 26 | |
| 27 | } // namespace frc |