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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::ErrorBase frc::SendableBase frc::Sendable frc::PWMSpeedController frc::Servo frc::DMC60 frc::Jaguar frc::PWMTalonSRX frc::PWMVictorSPX frc::SD540 frc::Spark frc::Talon frc::Victor frc::VictorSP

Public Member Functions

 SafePWM (int channel)
 Constructor for a SafePWM object taking a channel number. More...
 
 SafePWM (SafePWM &&)=default
 
SafePWMoperator= (SafePWM &&)=default
 
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...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device. More...
 
bool IsSafetyEnabled () const
 Check if motor safety is enabled for this object. More...
 
void GetDescription (wpi::raw_ostream &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...
 
 ~PWM () override
 Free the PWM channel. More...
 
 PWM (PWM &&rhs)
 
PWMoperator= (PWM &&rhs)
 
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::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
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...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (SendableBase &&rhs)
 
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
 Sendable (Sendable &&)=default
 
Sendableoperator= (Sendable &&)=default
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
- Public Member Functions inherited from frc::MotorSafety
 MotorSafety (MotorSafety &&)=default
 
MotorSafetyoperator= (MotorSafety &&)=default
 

Additional Inherited Members

- Public Types inherited from frc::PWM
enum  PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
 Represents the amount to multiply the minimum servo-pulse pwm period by. More...
 
- 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::PWM
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- 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

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

frc::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 frc::SafePWM::GetExpiration ( ) const
virtual

Return the expiration time for the PWM object.

Returns
The expiration time value.

Implements frc::MotorSafety.

bool frc::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 frc::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 frc::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 frc::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.

virtual void frc::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 frc::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.

Reimplemented in frc::PWMSpeedController.


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