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frc::SafePWM Class Reference

A safe version of the PWM class. More...

#include <SafePWM.h>

Inheritance diagram for frc::SafePWM:
frc::PWM frc::MotorSafety frc::SensorBase ITableListener frc::LiveWindowSendable frc::ErrorBase frc::Sendable frc::PWMSpeedController frc::Servo frc::Jaguar frc::SD540 frc::Spark frc::Talon frc::TalonSRX frc::Victor frc::VictorSP

Public Member Functions

 SafePWM (int channel)
 Constructor for a SafePWM object taking a channel number. More...
 
void SetExpiration (double timeout)
 Set the expiration time for the PWM object. More...
 
double GetExpiration () const
 Return the expiration time for the PWM object. More...
 
bool IsAlive () const
 Check if the PWM object is currently alive or stopped due to a timeout. More...
 
void StopMotor ()
 Stop the motor associated with this PWM object. More...
 
bool IsSafetyEnabled () const
 Check if motor safety is enabled for this object. More...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device. More...
 
void GetDescription (std::ostringstream &desc) const
 
virtual void SetSpeed (double speed)
 Feed the MotorSafety timer when setting the speed. More...
 
- Public Member Functions inherited from frc::PWM
 PWM (int channel)
 Allocate a PWM given a channel number. More...
 
virtual ~PWM ()
 Free the PWM channel. More...
 
virtual void SetRaw (uint16_t value)
 Set the PWM value directly to the hardware. More...
 
virtual uint16_t GetRaw () const
 Get the PWM value directly from the hardware. More...
 
virtual void SetPosition (double pos)
 Set the PWM value based on a position. More...
 
virtual double GetPosition () const
 Get the PWM value in terms of a position. More...
 
virtual double GetSpeed () const
 Get the PWM value in terms of speed. More...
 
virtual void SetDisabled ()
 Temporarily disables the PWM output. More...
 
void SetPeriodMultiplier (PeriodMultiplier mult)
 Slow down the PWM signal for old devices. More...
 
void SetZeroLatch ()
 
void EnableDeadbandElimination (bool eliminateDeadband)
 Optionally eliminate the deadband from a speed controller. More...
 
void SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
 Set the bounds on the PWM pulse widths. More...
 
void SetRawBounds (int max, int deadbandMax, int center, int deadbandMin, int min)
 Set the bounds on the PWM values. More...
 
void GetRawBounds (int32_t *max, int32_t *deadbandMax, int32_t *center, int32_t *deadbandMin, int32_t *min)
 Get the bounds on the PWM values. More...
 
int GetChannel () const
 
- Public Member Functions inherited from frc::SensorBase
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from ITableListener
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

Additional Inherited Members

- Public Types inherited from frc::PWM
enum  PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
 
- Static Public Member Functions inherited from frc::SensorBase
static int GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (int moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (int channel)
 Check that the relay channel number is valid. More...
 
static bool CheckPWMChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInputChannel (int channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutputChannel (int channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (int channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (int channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from frc::SensorBase
static const int kDigitalChannels = HAL_GetNumDigitalChannels()
 
static const int kAnalogInputs = HAL_GetNumAnalogInputs()
 
static const int kAnalogOutputs
 
static const int kSolenoidChannels = HAL_GetNumSolenoidChannels()
 
static const int kSolenoidModules = HAL_GetNumPCMModules()
 
static const int kPwmChannels = HAL_GetNumPWMChannels()
 
static const int kRelayChannels = HAL_GetNumRelayHeaders()
 
static const int kPDPChannels = HAL_GetNumPDPChannels()
 
- Protected Member Functions inherited from frc::PWM
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
 Called when a key-value pair is changed in a ITable. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Protected Attributes inherited from frc::PWM
std::shared_ptr< ITablem_table
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

A safe version of the PWM class.

It is safe because it implements the MotorSafety interface that provides timeouts in the event that the motor value is not updated before the expiration time. This delegates the actual work to a MotorSafetyHelper object that is used for all objects that implement MotorSafety.

Constructor & Destructor Documentation

SafePWM::SafePWM ( int  channel)
explicit

Constructor for a SafePWM object taking a channel number.

Parameters
channelThe PWM channel number 0-9 are on-board, 10-19 are on the MXP port

Member Function Documentation

double SafePWM::GetExpiration ( ) const
virtual

Return the expiration time for the PWM object.

Returns
The expiration time value.

Implements frc::MotorSafety.

bool SafePWM::IsAlive ( ) const
virtual

Check if the PWM object is currently alive or stopped due to a timeout.

Returns
a bool value that is true if the motor has NOT timed out and should still be running.

Implements frc::MotorSafety.

bool SafePWM::IsSafetyEnabled ( ) const
virtual

Check if motor safety is enabled for this object.

Returns
True if motor safety is enforced for this object

Implements frc::MotorSafety.

void SafePWM::SetExpiration ( double  timeout)
virtual

Set the expiration time for the PWM object.

Parameters
timeoutThe timeout (in seconds) for this motor object

Implements frc::MotorSafety.

void SafePWM::SetSafetyEnabled ( bool  enabled)
virtual

Enable/disable motor safety for this device.

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

Parameters
enabledTrue if motor safety is enforced for this object

Implements frc::MotorSafety.

void SafePWM::SetSpeed ( double  speed)
virtual

Feed the MotorSafety timer when setting the speed.

This method is called by the subclass motor whenever it updates its speed, thereby reseting the timeout value.

Parameters
speedValue to pass to the PWM class

Reimplemented from frc::PWM.

void SafePWM::StopMotor ( )
virtual

Stop the motor associated with this PWM object.

This is called by the MotorSafetyHelper object when it has a timeout for this PWM and needs to stop it from running.

Implements frc::MotorSafety.


The documentation for this class was generated from the following files: