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Relay Class Reference

Class for Spike style relay outputs. More...

#include <Relay.h>

Inheritance diagram for Relay:
MotorSafety SensorBase ITableListener LiveWindowSendable ErrorBase Sendable

Public Types

enum  Value { kOff, kOn, kForward, kReverse }
 
enum  Direction { kBothDirections, kForwardOnly, kReverseOnly }
 

Public Member Functions

 Relay (uint32_t channel, Direction direction=kBothDirections)
 Relay constructor given a channel. More...
 
virtual ~Relay ()
 Free the resource associated with a relay. More...
 
void Set (Value value)
 Set the relay state. More...
 
Value Get () const
 Get the Relay State. More...
 
uint32_t GetChannel () const
 
void SetExpiration (float timeout) override
 Set the expiration time for the Relay object. More...
 
float 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...
 
bool IsSafetyEnabled () const override
 Check if motor safety is enabled for this object. More...
 
void SetSafetyEnabled (bool enabled) override
 Enable/disable motor safety for this device Turn on and off the motor safety option for this relay object. More...
 
void GetDescription (std::ostringstream &desc) const override
 
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t 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, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from ITableListener
virtual void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew)=0
 Called when a key-value pair is changed in a ITable. More...
 
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

Public Attributes

std::shared_ptr< ITablem_table
 

Additional Inherited Members

- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

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 polatiry (like a solenoid).

Constructor & Destructor Documentation

Relay::Relay ( uint32_t  channel,
Relay::Direction  direction = kBothDirections 
)

Relay constructor given a channel.

This code initializes the relay and reserves all resources that need to be locked. Initially the relay is set to both lines at 0v.

Parameters
channelThe channel number (0-3).
directionThe direction that the Relay object will control.
Relay::~Relay ( )
virtual

Free the resource associated with a relay.

The relay channels are set to free and the relay output is turned off.

Member Function Documentation

Relay::Value 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)

Returns
The current state of the relay as a Relay::Value
float Relay::GetExpiration ( ) const
overridevirtual

Return the expiration time for the relay object.

Returns
The expiration time value.

Implements MotorSafety.

std::string Relay::GetSmartDashboardType ( ) const
overridevirtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

std::shared_ptr< ITable > Relay::GetTable ( ) const
overridevirtual
Returns
the table that is currently associated with the sendable

Implements Sendable.

void Relay::InitTable ( std::shared_ptr< ITable subtable)
overridevirtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements Sendable.

bool Relay::IsAlive ( ) const
overridevirtual

Check if the relay object is currently alive or stopped due to a timeout.

Returns
a bool value that is true if the motor has NOT timed out and should still be running.

Implements MotorSafety.

bool Relay::IsSafetyEnabled ( ) const
overridevirtual

Check if motor safety is enabled for this object.

Returns
True if motor safety is enforced for this object

Implements MotorSafety.

void Relay::Set ( Relay::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.

Parameters
valueThe state to set the relay.
void Relay::SetExpiration ( float  timeout)
overridevirtual

Set the expiration time for the Relay object.

Parameters
timeoutThe timeout (in seconds) for this relay object

Implements MotorSafety.

void Relay::SetSafetyEnabled ( bool  enabled)
overridevirtual

Enable/disable motor safety for this device Turn on and off the motor safety option for this relay object.

Parameters
enabledTrue if motor safety is enforced for this object

Implements MotorSafety.

void Relay::StopMotor ( )
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 MotorSafety.


The documentation for this class was generated from the following files: