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1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
8 #pragma once
10 #include <memory>
11 #include <string>
13 #include "HAL/Types.h"
14 #include "LiveWindow/LiveWindowSendable.h"
15 #include "MotorSafety.h"
16 #include "SensorBase.h"
17 #include "tables/ITable.h"
18 #include "tables/ITableListener.h"
20 namespace frc {
22 class MotorSafetyHelper;
35 class Relay : public MotorSafety,
36  public SensorBase,
37  public ITableListener,
38  public LiveWindowSendable {
39  public:
40  enum Value { kOff, kOn, kForward, kReverse };
41  enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
43  explicit Relay(int channel, Direction direction = kBothDirections);
44  virtual ~Relay();
46  void Set(Value value);
47  Value Get() const;
48  int GetChannel() const;
50  void SetExpiration(double timeout) override;
51  double GetExpiration() const override;
52  bool IsAlive() const override;
53  void StopMotor() override;
54  bool IsSafetyEnabled() const override;
55  void SetSafetyEnabled(bool enabled) override;
56  void GetDescription(std::ostringstream& desc) const override;
58  void ValueChanged(ITable* source, llvm::StringRef key,
59  std::shared_ptr<nt::Value> value, bool isNew) override;
60  void UpdateTable() override;
61  void StartLiveWindowMode() override;
62  void StopLiveWindowMode() override;
63  std::string GetSmartDashboardType() const override;
64  void InitTable(std::shared_ptr<ITable> subTable) override;
65  std::shared_ptr<ITable> GetTable() const override;
67  std::shared_ptr<ITable> m_table;
69  private:
70  int m_channel;
71  Direction m_direction;
73  HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
74  HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
76  std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
77 };
79 } // namespace frc
Value Get() const
Get the Relay State.
Definition: Relay.cpp:185
A table whose values can be read and written to.
Definition: ITable.h:22
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:17
Base class for all sensors.
Definition: SensorBase.h:22
void Set(Value value)
Set the relay state.
Definition: Relay.cpp:124
Class for Spike style relay outputs.
Definition: Relay.h:35
void SetExpiration(double timeout) override
Set the expiration time for the Relay object.
Definition: Relay.cpp:219
void StartLiveWindowMode() override
Start having this sendable object automatically respond to value changes reflect the value on the tab...
Definition: Relay.cpp:296
std::shared_ptr< ITable > GetTable() const override
Definition: Relay.cpp:315
Definition: MotorSafety.h:16
Definition: MotorSafetyHelper.h:19
void StopLiveWindowMode() override
Stop having this sendable object automatically respond to value changes.
Definition: Relay.cpp:302
void SetSafetyEnabled(bool enabled) override
Enable/disable motor safety for this device.
Definition: Relay.cpp:252
Relay(int channel, Direction direction=kBothDirections)
Relay constructor given a channel.
Definition: Relay.cpp:30
double GetExpiration() const override
Return the expiration time for the relay object.
Definition: Relay.cpp:227
void InitTable(std::shared_ptr< ITable > subTable) override
Initializes a table for this sendable object.
Definition: Relay.cpp:310
std::string GetSmartDashboardType() const override
Definition: Relay.cpp:308
void StopMotor() override
Stop the motor associated with this PWM object.
Definition: Relay.cpp:243
A listener that listens to changes in values in a ITable.
Definition: ITableListener.h:18
bool IsSafetyEnabled() const override
Check if motor safety is enabled for this object.
Definition: Relay.cpp:261
virtual ~Relay()
Free the resource associated with a relay.
Definition: Relay.cpp:98
void UpdateTable() override
Update the table for this sendable object with the latest values.
Definition: Relay.cpp:282
bool IsAlive() const override
Check if the relay object is currently alive or stopped due to a timeout.
Definition: Relay.cpp:235