WPILibC++
2019.1.1-beta-1-37-g43d188a
|
A safe version of the PWM class. More...
#include <SafePWM.h>
Public Member Functions | |
SafePWM (int channel) | |
Constructor for a SafePWM object taking a channel number. More... | |
SafePWM (SafePWM &&)=default | |
SafePWM & | operator= (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... | |
![]() | |
PWM (int channel) | |
Allocate a PWM given a channel number. More... | |
~PWM () override | |
Free the PWM channel. More... | |
PWM (PWM &&rhs) | |
PWM & | operator= (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 |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
MotorSafety (MotorSafety &&)=default | |
MotorSafety & | operator= (MotorSafety &&)=default |
Additional Inherited Members | |
![]() | |
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 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. | |
![]() | |
void | InitSendable (SendableBuilder &builder) override |
Initializes this Sendable object. More... | |
![]() | |
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... | |
![]() | |
Error | m_error |
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.
|
explicit |
|
virtual |
Return the expiration time for the PWM object.
Implements frc::MotorSafety.
|
virtual |
Check if the PWM object is currently alive or stopped due to a timeout.
Implements frc::MotorSafety.
|
virtual |
Check if motor safety is enabled for this object.
Implements frc::MotorSafety.
|
virtual |
Set the expiration time for the PWM object.
timeout | The timeout (in seconds) for this motor object |
Implements frc::MotorSafety.
|
virtual |
Enable/disable motor safety for this device.
Turn on and off the motor safety option for this PWM object.
enabled | True if motor safety is enforced for this object |
Implements frc::MotorSafety.
|
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.
speed | Value to pass to the PWM class |
Reimplemented from frc::PWM.
|
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.