Class MotorSafety

  • Direct Known Subclasses:
    NidecBrushless, PWM, Relay, RobotDrive, RobotDriveBase

    public abstract class MotorSafety
    extends Object
    This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires.

    The subclass should call feed() whenever the motor value is updated.

    • Constructor Detail

      • MotorSafety

        public MotorSafety()
        MotorSafety constructor.
    • Method Detail

      • feed

        public void feed()
        Feed the motor safety object.

        Resets the timer on this object that is used to do the timeouts.

      • setExpiration

        public void setExpiration​(double expirationTime)
        Set the expiration time for the corresponding motor safety object.
        Parameters:
        expirationTime - The timeout value in seconds.
      • getExpiration

        public double getExpiration()
        Retrieve the timeout value for the corresponding motor safety object.
        Returns:
        the timeout value in seconds.
      • isAlive

        public boolean isAlive()
        Determine of the motor is still operating or has timed out.
        Returns:
        a true value if the motor is still operating normally and hasn't timed out.
      • check

        public void check()
        Check if this motor has exceeded its timeout. This method is called periodically to determine if this motor has exceeded its timeout value. If it has, the stop method is called, and the motor is shut down until its value is updated again.
      • setSafetyEnabled

        public void setSafetyEnabled​(boolean enabled)
        Enable/disable motor safety for this device.

        Turn on and off the motor safety option for this PWM object.

        Parameters:
        enabled - True if motor safety is enforced for this object
      • isSafetyEnabled

        public boolean isSafetyEnabled()
        Return the state of the motor safety enabled flag.

        Return if the motor safety is currently enabled for this device.

        Returns:
        True if motor safety is enforced for this device
      • checkMotors

        public static void checkMotors()
        Check the motors to see if any have timed out.

        This static method is called periodically to poll all the motors and stop any that have timed out.

      • stopMotor

        public abstract void stopMotor()
      • getDescription

        public abstract String getDescription()