WPILibC++
2018.4.1-20180927001728-1207-gd5d744a
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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... | |
~Relay () override | |
Free the resource associated with a relay. More... | |
Relay (Relay &&rhs) | |
Relay & | operator= (Relay &&rhs) |
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... | |
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MotorSafety (MotorSafety &&)=default | |
MotorSafety & | operator= (MotorSafety &&)=default |
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ErrorBase (ErrorBase &&)=default | |
ErrorBase & | operator= (ErrorBase &&)=default |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () 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... | |
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SendableBase (bool addLiveWindow=true) | |
Creates an instance of the sensor base. More... | |
SendableBase (SendableBase &&rhs) | |
SendableBase & | operator= (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... | |
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Sendable (Sendable &&)=default | |
Sendable & | operator= (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... | |
Additional Inherited Members | |
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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 Error & | GetGlobalError () |
Retrieve the current global error. | |
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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... | |
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Error | m_error |
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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override |
Free the resource associated with a relay.
The relay channels are set to free and the relay output is turned off.
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).
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overridevirtual |
Return the expiration time for the relay object.
Implements frc::MotorSafety.
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overridevirtual |
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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 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.
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.