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frc::Relay Class Reference

Class for Spike style relay outputs. More...

#include <Relay.h>

Inheritance diagram for frc::Relay:
frc::MotorSafety frc::SendableBase frc::ErrorBase frc::Sendable

Public Types

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

Public Member Functions

 Relay (int channel, Direction direction=kBothDirections)
 Relay constructor given a channel. More...
 
 ~Relay () override
 Free the resource associated with a relay. More...
 
 Relay (Relay &&rhs)
 
Relayoperator= (Relay &&rhs)
 
void Set (Value value)
 Set the relay state. More...
 
Value Get () const
 Get the Relay State. More...
 
int GetChannel () const
 
void StopMotor () override
 
void GetDescription (wpi::raw_ostream &desc) const override
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::MotorSafety
 MotorSafety (MotorSafety &&rhs)
 
MotorSafetyoperator= (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...
 
void Check ()
 Check if this motor has exceeded its timeout. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () 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...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (SendableBase &&rhs)
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
 Sendable (Sendable &&)=default
 
Sendableoperator= (Sendable &&)=default
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::MotorSafety
static void CheckMotors ()
 Check the motors to see if any have timed out. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
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 ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

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 polarity (like a solenoid).

Constructor & Destructor Documentation

frc::Relay::Relay ( int  channel,
Direction  direction = kBothDirections 
)
explicit

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.
frc::Relay::~Relay ( )
override

Free the resource associated with a relay.

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

Member Function Documentation

Value frc::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
void frc::Relay::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

void frc::Relay::Set ( 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.

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