WPILibC++
unspecified
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Class for Spike style relay outputs. More...
#include <Relay.h>
Public Types | |
enum | Value { kOff, kOn, kForward, kReverse } |
enum | Direction { kBothDirections, kForwardOnly, kReverseOnly } |
Public Member Functions | |
Relay (int channel, Direction direction=kBothDirections) | |
Relay constructor given a channel. More... | |
virtual | ~Relay () |
Free the resource associated with a relay. More... | |
void | Set (Value value) |
Set the relay state. More... | |
Value | Get () const |
Get the Relay State. More... | |
int | GetChannel () const |
void | SetExpiration (double timeout) override |
Set the expiration time for the Relay object. More... | |
double | GetExpiration () const override |
Return the expiration time for the relay object. More... | |
bool | IsAlive () const override |
Check if the relay object is currently alive or stopped due to a timeout. More... | |
void | StopMotor () override |
Stop the motor associated with this PWM object. More... | |
bool | IsSafetyEnabled () const override |
Check if motor safety is enabled for this object. More... | |
void | SetSafetyEnabled (bool enabled) override |
Enable/disable motor safety for this device. More... | |
void | GetDescription (llvm::raw_ostream &desc) const override |
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< nt::NetworkTable > subTable) override |
Initializes a table for this sendable object. More... | |
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SensorBase (const SensorBase &)=delete | |
SensorBase & | operator= (const SensorBase &)=delete |
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ErrorBase (const ErrorBase &)=delete | |
ErrorBase & | operator= (const ErrorBase &)=delete |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () 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... | |
Protected Attributes | |
nt::NetworkTableEntry | m_valueEntry |
NT_EntryListener | m_valueListener = 0 |
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Error | m_error |
Additional Inherited Members | |
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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... | |
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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 Error & | GetGlobalError () |
Retrieve the current global error. | |
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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() |
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static std::mutex | _globalErrorMutex |
static Error | _globalError |
Class for Spike style relay outputs.
Relays are intended to be connected to spikes or similar relays. The relay channels controls a pair of pins that are either both off, one on, the other on, or both on. This translates into two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This allows off, full forward, or full reverse control of motors without variable speed. It also allows the two channels (forward and reverse) to be used independently for something that does not care about voltage polarity (like a solenoid).
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explicit |
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virtual |
Free the resource associated with a relay.
The relay channels are set to free and the relay output is turned off.
Relay::Value Relay::Get | ( | ) | const |
Get the Relay State.
Gets the current state of the relay.
When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not kForward/kReverse (per the recommendation in Set)
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overridevirtual |
Return the expiration time for the relay object.
Implements frc::MotorSafety.
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overridevirtual |
Implements frc::Sendable.
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overridevirtual |
Initializes a table for this sendable object.
subtable | The table to put the values in. |
Implements frc::Sendable.
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overridevirtual |
Check if the relay object is currently alive or stopped due to a timeout.
Implements frc::MotorSafety.
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overridevirtual |
Check if motor safety is enabled for this object.
Implements frc::MotorSafety.
void Relay::Set | ( | Relay::Value | value | ) |
Set the relay state.
Valid values depend on which directions of the relay are controlled by the object.
When set to kBothDirections, the relay can be any of the four states: 0v-0v, 0v-12v, 12v-0v, 12v-12v
When set to kForwardOnly or kReverseOnly, you can specify the constant for the direction or you can simply specify kOff and kOn. Using only kOff and kOn is recommended.
value | The state to set the relay. |
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overridevirtual |
Set the expiration time for the Relay object.
timeout | The timeout (in seconds) for this relay object |
Implements frc::MotorSafety.
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overridevirtual |
Enable/disable motor safety for this device.
Turn on and off the motor safety option for this relay object.
enabled | True if motor safety is enforced for this object |
Implements frc::MotorSafety.
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overridevirtual |
Stop the motor associated with this PWM object.
This is called by the MotorSafetyHelper object when it has a timeout for this relay and needs to stop it from running.
Implements frc::MotorSafety.