edu.wpi.first.wpilibj
Class SafePWM

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.PWM
          edu.wpi.first.wpilibj.SafePWM

All Implemented Interfaces:

LiveWindowSendable, MotorSafety, Sendable

Direct Known Subclasses:

Jaguar, Talon, Victor

public class SafePWM
extends PWM
implements MotorSafety

Author:

brad

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

PWM.PeriodMultiplier

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.PWM

kDefaultMinPwmHigh, kDefaultPwmPeriod, kPwmDisabled

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

SafePWM(int channel)
Constructor for a SafePWM object taking a channel number

SafePWM(int slot, int channel)
Constructor for a SafePWM object taking channel and slot numbers.

Method Summary

void	disable()
void	Feed() Feed the MotorSafety timer.
String	getDescription()
double	getExpiration() Return the expiration time for the PWM object.
boolean	isAlive() Check if the PWM object is currently alive or stopped due to a timeout.
boolean	isSafetyEnabled() Check if motor safety is enabled for this object
void	setExpiration(double timeout)
void	setSafetyEnabled(boolean enabled)
void	stopMotor() Stop the motor associated with this PWM object.

Methods inherited from class edu.wpi.first.wpilibj.PWM

enableDeadbandElimination, free, getChannel, getModuleNumber, getPosition, getRaw, getSmartDashboardType, getSpeed, getTable, initTable, setBounds, setPeriodMultiplier, setPosition, setRaw, startLiveWindowMode, stopLiveWindowMode, updateTable

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SafePWM

public SafePWM(int channel)

Constructor for a SafePWM object taking a channel number

Parameters:

channel - The channel number to be used for the underlying PWM object

SafePWM

public SafePWM(int slot,
               int channel)

Constructor for a SafePWM object taking channel and slot numbers.

Parameters:

slot - The slot number of the digital module for this PWM object

channel - The channel number in the module for this PWM object

Method Detail

setExpiration

public void setExpiration(double timeout)

Specified by:

setExpiration in interface MotorSafety

getExpiration

public double getExpiration()

Return the expiration time for the PWM object.

Specified by:

getExpiration in interface MotorSafety

Returns:

The expiration time value.

isAlive

public boolean isAlive()

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

Specified by:

isAlive in interface MotorSafety

Returns:

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

stopMotor

public void stopMotor()

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.

Specified by:

stopMotor in interface MotorSafety

isSafetyEnabled

public boolean isSafetyEnabled()

Check if motor safety is enabled for this object

Specified by:

isSafetyEnabled in interface MotorSafety

Returns:

True if motor safety is enforced for this object

Feed

public void Feed()

Feed the MotorSafety timer. This method is called by the subclass motor whenever it updates its speed, thereby reseting the timeout value.

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

Specified by:

setSafetyEnabled in interface MotorSafety

getDescription

public String getDescription()

Specified by:

getDescription in interface MotorSafety

disable

public void disable()