edu.wpi.first.wpilibj

Class MotorSafetyHelper

java.lang.Object

edu.wpi.first.wpilibj.MotorSafetyHelper

public final class MotorSafetyHelper
extends java.lang.Object

The MotorSafetyHelper object is constructed for every object that wants to implement the Motor Safety protocol. The helper object has the code to actually do the timing and call the motors Stop() method when the timeout expires. The motor object is expected to call the Feed() method whenever the motors value is updated.

Constructor Summary

Constructors

Constructor and Description
MotorSafetyHelper(MotorSafety safeObject) The constructor for a MotorSafetyHelper object.

Method Summary

Modifier and Type	Method and Description
void	check() Check if this motor has exceeded its timeout.
static void	checkMotors() Check the motors to see if any have timed out.
void	feed() Feed the motor safety object.
double	getExpiration() Retrieve the timeout value for the corresponding motor safety object.
boolean	isAlive() Determine of the motor is still operating or has timed out.
boolean	isSafetyEnabled() Return the state of the motor safety enabled flag Return if the motor safety is currently enabled for this devicce.
void	setExpiration(double expirationTime) Set the expiration time for the corresponding motor safety object.
void	setSafetyEnabled(boolean enabled) Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM object.

Methods inherited from class java.lang.Object

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

Constructor Detail

MotorSafetyHelper

public MotorSafetyHelper(MotorSafety safeObject)

The constructor for a MotorSafetyHelper object. The helper object is constructed for every object that wants to implement the Motor Safety protocol. The helper object has the code to actually do the timing and call the motors Stop() method when the timeout expires. The motor object is expected to call the Feed() method whenever the motors value is updated.

Parameters:

safeObject - a pointer to the motor object implementing MotorSafety. This is used to call the Stop() method on the motor.

Method Detail

feed

public void feed()

Feed the motor safety object. Resets the timer on this object that is used to do the timeouts.

setExpiration

public void setExpiration(double expirationTime)

Set the expiration time for the corresponding motor safety object.

Parameters:

expirationTime - The timeout value in seconds.

getExpiration

public double getExpiration()

Retrieve the timeout value for the corresponding motor safety object.

Returns:

the timeout value in seconds.

isAlive

public boolean isAlive()

Determine of the motor is still operating or has timed out.

Returns:

a true value if the motor is still operating normally and hasn't timed out.

check

public void check()

Check if this motor has exceeded its timeout. This method is called periodically to determine if this motor has exceeded its timeout value. If it has, the stop method is called, and the motor is shut down until its value is updated again.

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

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

isSafetyEnabled

public boolean isSafetyEnabled()

Return the state of the motor safety enabled flag Return if the motor safety is currently enabled for this devicce.

Returns:

True if motor safety is enforced for this device

checkMotors

public static void checkMotors()

Check the motors to see if any have timed out. This static method is called periodically to poll all the motors and stop any that have timed out.