A safe version of the PWM class. More...

#include <SafePWM.h>

Inheritance diagram for SafePWM:

Public Member Functions
	SafePWM (uint32_t channel)
	Constructor for a SafePWM object taking a channel number. More...

void	SetExpiration (float timeout)
	Set the expiration time for the PWM object. More...

float	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...

bool	IsSafetyEnabled () const
	Check if motor safety is enabled for this object. More...

void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM object. More...

void	GetDescription (std::ostringstream &desc) const

virtual void	SetSpeed (float speed)
	Feed the MotorSafety timer when setting the speed. More...

Public Member Functions inherited from PWM
	PWM (uint32_t channel)
	Allocate a PWM given a channel number. More...

virtual	~PWM ()
	Free the PWM channel. More...

virtual void	SetRaw (unsigned short value)
	Set the PWM value directly to the hardware. More...

virtual unsigned short	GetRaw () const
	Get the PWM value directly from the hardware. 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 (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)
	Set the bounds on the PWM values. More...

void	SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
	Set the bounds on the PWM pulse widths. More...

uint32_t	GetChannel () const

Public Member Functions inherited from SensorBase
	SensorBase ()
	Creates an instance of the sensor base and gets an FPGA handle.

	SensorBase (const SensorBase &)=delete

SensorBase &	operator= (const SensorBase &)=delete

Public Member Functions inherited from ErrorBase
	ErrorBase (const ErrorBase &)=delete

ErrorBase &	operator= (const ErrorBase &)=delete

virtual Error &	GetError ()
	Retrieve the current error. More...

virtual const Error &	GetError () 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	ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
	Extended version of ValueChanged. More...

Additional Inherited Members
Public Types inherited from PWM
enum	PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }

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 Error &	GetGlobalError ()
	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 PWM
virtual void	SetPosition (float pos)
	Set the PWM value based on a position. More...

virtual float	GetPosition () const
	Get the PWM value in terms of a position. More...

virtual float	GetSpeed () const
	Get the PWM value in terms of speed. More...

void	ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
	Called when a key-value pair is changed in a ITable. More...

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< ITable >	GetTable () const override

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
	Add sensor to the singleton list. More...

Protected Attributes inherited from PWM
bool	m_eliminateDeadband

int32_t	m_maxPwm

int32_t	m_deadbandMaxPwm

int32_t	m_centerPwm

int32_t	m_deadbandMinPwm

int32_t	m_minPwm

std::shared_ptr< ITable >	m_table

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from PWM
static constexpr float	kDefaultPwmPeriod = 5.05
	kDefaultPwmPeriod is in ms More...

static constexpr float	kDefaultPwmCenter = 1.5
	kDefaultPwmCenter is the PWM range center in ms

static const int32_t	kDefaultPwmStepsDown = 1000
	kDefaultPWMStepsDown is the number of PWM steps below the centerpoint

static const int32_t	kPwmDisabled = 0

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

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.

Constructor & Destructor Documentation

SafePWM::SafePWM ( uint32_t channel )

explicit

Constructor for a SafePWM object taking a channel number.

Parameters

channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP port

Member Function Documentation

float SafePWM::GetExpiration ( ) const

virtual

Return the expiration time for the PWM object.

Returns: The expiration time value.

Implements MotorSafety.

bool SafePWM::IsAlive ( ) const

virtual

Check if the PWM 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 SafePWM::IsSafetyEnabled ( ) const

virtual

Check if motor safety is enabled for this object.

Returns: True if motor safety is enforced for this object

Implements MotorSafety.

void SafePWM::SetExpiration ( float timeout )

virtual

Set the expiration time for the PWM object.

Parameters

timeout The timeout (in seconds) for this motor object

Implements MotorSafety.

void SafePWM::SetSafetyEnabled ( bool enabled )

virtual

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

Implements MotorSafety.

void SafePWM::SetSpeed ( float speed )

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.

Parameters

speed Value to pass to the PWM class

Reimplemented from PWM.

void SafePWM::StopMotor ( )

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 MotorSafety.

Reimplemented in SD540, Jaguar, and Spark.

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

Athena/include/SafePWM.h
Athena/src/SafePWM.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation