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frc::Relay Class Reference

Class for Spike style relay outputs. More...

#include <Relay.h>

Inheritance diagram for frc::Relay:
frc::MotorSafety frc::ErrorBase frc::SendableBase frc::Sendable

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...
 
 ~Relay () override
 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...
 
void SetSafetyEnabled (bool enabled) override
 Enable/disable motor safety for this device. More...
 
bool IsSafetyEnabled () const override
 Check if motor safety is enabled for this object. More...
 
void GetDescription (wpi::raw_ostream &desc) const override
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- 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
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static const ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Detailed Description

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).

Constructor & Destructor Documentation

frc::Relay::Relay ( int  channel,
Direction  direction = kBothDirections 
)
explicit

Relay constructor given a channel.

This code initializes the relay and reserves all resources that need to be locked. Initially the relay is set to both lines at 0v.

Parameters
channelThe channel number (0-3).
directionThe direction that the Relay object will control.
frc::Relay::~Relay ( )
override

Free the resource associated with a relay.

The relay channels are set to free and the relay output is turned off.

Member Function Documentation

Value frc::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).

Returns
The current state of the relay as a Relay::Value
double frc::Relay::GetExpiration ( ) const
overridevirtual

Return the expiration time for the relay object.

Returns
The expiration time value.

Implements frc::MotorSafety.

void frc::Relay::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

bool frc::Relay::IsAlive ( ) const
overridevirtual

Check if the relay 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 frc::Relay::IsSafetyEnabled ( ) const
overridevirtual

Check if motor safety is enabled for this object.

Returns
True if motor safety is enforced for this object

Implements frc::MotorSafety.

void frc::Relay::Set ( 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.

Parameters
valueThe state to set the relay.
void frc::Relay::SetExpiration ( double  timeout)
overridevirtual

Set the expiration time for the Relay object.

Parameters
timeoutThe timeout (in seconds) for this relay object

Implements frc::MotorSafety.

void frc::Relay::SetSafetyEnabled ( bool  enabled)
overridevirtual

Enable/disable motor safety for this device.

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

Parameters
enabledTrue if motor safety is enforced for this object

Implements frc::MotorSafety.

void frc::Relay::StopMotor ( )
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.


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