12 #include <HAL/Types.h> 13 #include <wpi/raw_ostream.h> 15 #include "ErrorBase.h" 16 #include "MotorSafety.h" 17 #include "SmartDashboard/SendableBase.h" 21 class MotorSafetyHelper;
37 enum Value { kOff, kOn, kForward, kReverse };
38 enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
49 explicit Relay(
int channel, Direction direction = kBothDirections);
73 void Set(Value value);
87 int GetChannel()
const;
141 Direction m_direction;
143 HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
144 HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
146 std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
This class implements an extremely fast bulk output stream that can only output to a stream...
Definition: raw_ostream.h:45
Value Get() const
Get the Relay State.
Definition: Relay.cpp:144
Definition: Utility.cpp:119
void Set(Value value)
Set the relay state.
Definition: Relay.cpp:93
Class for Spike style relay outputs.
Definition: Relay.h:35
void SetExpiration(double timeout) override
Set the expiration time for the Relay object.
Definition: Relay.cpp:180
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
Definition: Relay.cpp:202
Definition: MotorSafety.h:16
void SetSafetyEnabled(bool enabled) override
Enable/disable motor safety for this device.
Definition: Relay.cpp:190
Relay(int channel, Direction direction=kBothDirections)
Relay constructor given a channel.
Definition: Relay.cpp:22
double GetExpiration() const override
Return the expiration time for the relay object.
Definition: Relay.cpp:184
void StopMotor() override
Stop the motor associated with this PWM object.
Definition: Relay.cpp:188
Base class for most objects.
Definition: ErrorBase.h:74
Definition: SendableBase.h:19
bool IsSafetyEnabled() const override
Check if motor safety is enabled for this object.
Definition: Relay.cpp:194
Definition: SendableBuilder.h:23
bool IsAlive() const override
Check if the relay object is currently alive or stopped due to a timeout.
Definition: Relay.cpp:186
~Relay() override
Free the resource associated with a relay.
Definition: Relay.cpp:84