WPILibC++
2019.1.1-beta-4-17-g300eeb3
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This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires. More...
#include <MotorSafety.h>
Public Member Functions | |
MotorSafety (MotorSafety &&rhs) | |
MotorSafety & | operator= (MotorSafety &&rhs) |
void | Feed () |
Feed the motor safety object. More... | |
void | SetExpiration (double expirationTime) |
Set the expiration time for the corresponding motor safety object. More... | |
double | GetExpiration () const |
Retrieve the timeout value for the corresponding motor safety object. More... | |
bool | IsAlive () const |
Determine if the motor is still operating or has timed out. More... | |
void | SetSafetyEnabled (bool enabled) |
Enable/disable motor safety for this device. More... | |
bool | IsSafetyEnabled () const |
Return the state of the motor safety enabled flag. More... | |
virtual void | StopMotor ()=0 |
virtual void | GetDescription (wpi::raw_ostream &desc) const =0 |
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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... | |
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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Error | m_error |
This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires.
The subclass should call Feed() whenever the motor value is updated.
void frc::MotorSafety::Feed | ( | ) |
Feed the motor safety object.
Resets the timer on this object that is used to do the timeouts.
double frc::MotorSafety::GetExpiration | ( | ) | const |
Retrieve the timeout value for the corresponding motor safety object.
bool frc::MotorSafety::IsAlive | ( | ) | const |
Determine if the motor is still operating or has timed out.
bool frc::MotorSafety::IsSafetyEnabled | ( | ) | const |
Return the state of the motor safety enabled flag.
Return if the motor safety is currently enabled for this device.
void frc::MotorSafety::SetExpiration | ( | double | expirationTime | ) |
Set the expiration time for the corresponding motor safety object.
expirationTime | The timeout value in seconds. |
void frc::MotorSafety::SetSafetyEnabled | ( | bool | enabled | ) |
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. |