Package edu.wpi.first.wpilibj
Class MotorSafetyHelper
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- edu.wpi.first.wpilibj.MotorSafetyHelper
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public final class MotorSafetyHelper extends Object
The MotorSafetyHelper object is constructed for every object that wants to implement the Motor Safety protocol. The helper object has the code to actually do the timing and call the motors Stop() method when the timeout expires. The motor object is expected to call the Feed() method whenever the motors value is updated.
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Constructor Summary
Constructors Constructor Description MotorSafetyHelper(MotorSafety safeObject)
The constructor for a MotorSafetyHelper object.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
check()
Check if this motor has exceeded its timeout.static void
checkMotors()
Check the motors to see if any have timed out.void
feed()
Feed the motor safety object.double
getExpiration()
Retrieve the timeout value for the corresponding motor safety object.boolean
isAlive()
Determine of the motor is still operating or has timed out.boolean
isSafetyEnabled()
Return the state of the motor safety enabled flag Return if the motor safety is currently enabled for this device.void
setExpiration(double expirationTime)
Set the expiration time for the corresponding motor safety object.void
setSafetyEnabled(boolean enabled)
Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM object.
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Constructor Detail
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MotorSafetyHelper
public MotorSafetyHelper(MotorSafety safeObject)
The constructor for a MotorSafetyHelper object. The helper object is constructed for every object that wants to implement the Motor Safety protocol. The helper object has the code to actually do the timing and call the motors Stop() method when the timeout expires. The motor object is expected to call the Feed() method whenever the motors value is updated.- Parameters:
safeObject
- a pointer to the motor object implementing MotorSafety. This is used to call the Stop() method on the motor.
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Method Detail
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feed
public void feed()
Feed the motor safety object. Resets the timer on this object that is used to do the timeouts.
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setExpiration
public void setExpiration(double expirationTime)
Set the expiration time for the corresponding motor safety object.- Parameters:
expirationTime
- The timeout value in seconds.
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getExpiration
public double getExpiration()
Retrieve the timeout value for the corresponding motor safety object.- Returns:
- the timeout value in seconds.
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isAlive
public boolean isAlive()
Determine of the motor is still operating or has timed out.- Returns:
- a true value if the motor is still operating normally and hasn't timed out.
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check
public void check()
Check if this motor has exceeded its timeout. This method is called periodically to determine if this motor has exceeded its timeout value. If it has, the stop method is called, and the motor is shut down until its value is updated again.
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setSafetyEnabled
public void setSafetyEnabled(boolean enabled)
Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM object.- Parameters:
enabled
- True if motor safety is enforced for this object
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isSafetyEnabled
public boolean isSafetyEnabled()
Return the state of the motor safety enabled flag Return if the motor safety is currently enabled for this device.- Returns:
- True if motor safety is enforced for this device
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checkMotors
public static void checkMotors()
Check the motors to see if any have timed out. This static method is called periodically to poll all the motors and stop any that have timed out.
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