13 #include <HAL/Types.h> 14 #include <llvm/raw_ostream.h> 16 #include "LiveWindow/LiveWindowSendable.h" 17 #include "MotorSafety.h" 18 #include "SensorBase.h" 19 #include "networktables/NetworkTableEntry.h" 38 enum Value { kOff, kOn, kForward, kReverse };
39 enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
41 explicit Relay(
int channel, Direction direction = kBothDirections);
44 void Set(Value value);
46 int GetChannel()
const;
60 void InitTable(std::shared_ptr<nt::NetworkTable> subTable)
override;
64 NT_EntryListener m_valueListener = 0;
68 Direction m_direction;
70 HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
71 HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
73 std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
Value Get() const
Get the Relay State.
Definition: Relay.cpp:186
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:17
Base class for all sensors.
Definition: SensorBase.h:20
void Set(Value value)
Set the relay state.
Definition: Relay.cpp:125
Class for Spike style relay outputs.
Definition: Relay.h:36
void SetExpiration(double timeout) override
Set the expiration time for the Relay object.
Definition: Relay.cpp:226
void StartLiveWindowMode() override
Start having this sendable object automatically respond to value changes reflect the value on the tab...
Definition: Relay.cpp:290
Definition: MotorSafety.h:16
Definition: MotorSafetyHelper.h:19
void StopLiveWindowMode() override
Stop having this sendable object automatically respond to value changes.
Definition: Relay.cpp:308
void SetSafetyEnabled(bool enabled) override
Enable/disable motor safety for this device.
Definition: Relay.cpp:259
Relay(int channel, Direction direction=kBothDirections)
Relay constructor given a channel.
Definition: Relay.cpp:30
double GetExpiration() const override
Return the expiration time for the relay object.
Definition: Relay.cpp:234
void InitTable(std::shared_ptr< nt::NetworkTable > subTable) override
Initializes a table for this sendable object.
Definition: Relay.cpp:317
std::string GetSmartDashboardType() const override
Definition: Relay.cpp:315
void StopMotor() override
Stop the motor associated with this PWM object.
Definition: Relay.cpp:250
bool IsSafetyEnabled() const override
Check if motor safety is enabled for this object.
Definition: Relay.cpp:268
virtual ~Relay()
Free the resource associated with a relay.
Definition: Relay.cpp:99
NetworkTables Entry.
Definition: NetworkTableEntry.h:30
void UpdateTable() override
Update the table for this sendable object with the latest values.
Definition: Relay.cpp:276
bool IsAlive() const override
Check if the relay object is currently alive or stopped due to a timeout.
Definition: Relay.cpp:242
This class implements an extremely fast bulk output stream that can only output to a stream...
Definition: raw_ostream.h:33