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MotorSafety.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2016. 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
Definition: MotorSafety.h:16