10 #include "ErrorBase.h"
11 #include "HAL/cpp/priority_mutex.h"
38 static std::set<MotorSafetyHelper*> m_helperList;
MotorSafetyHelper(MotorSafety *safeObject)
The constructor for a MotorSafetyHelper object.
Definition: MotorSafetyHelper.cpp:34
Definition: MotorSafety.h:14
void Feed()
Feed the motor safety object.
Definition: MotorSafetyHelper.cpp:53
static void CheckMotors()
Check the motors to see if any have timed out.
Definition: MotorSafetyHelper.cpp:134
bool IsSafetyEnabled() const
Return the state of the motor safety enabled flag Return if the motor safety is currently enabled for...
Definition: MotorSafetyHelper.cpp:123
Definition: priority_mutex.h:22
bool IsAlive() const
Determine if the motor is still operating or has timed out.
Definition: MotorSafetyHelper.cpp:81
Base class for most objects.
Definition: ErrorBase.h:66
void Check()
Check if this motor has exceeded its timeout.
Definition: MotorSafetyHelper.cpp:94
float GetExpiration() const
Retrieve the timeout value for the corresponding motor safety object.
Definition: MotorSafetyHelper.cpp:71
Definition: MotorSafetyHelper.h:17
void SetSafetyEnabled(bool enabled)
Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM obje...
Definition: MotorSafetyHelper.cpp:113
void SetExpiration(float expirationTime)
Set the expiration time for the corresponding motor safety object.
Definition: MotorSafetyHelper.cpp:62