001/*----------------------------------------------------------------------------*/
002/* Copyright (c) FIRST 2008-2017. All Rights Reserved.                        */
003/* Open Source Software - may be modified and shared by FRC teams. The code   */
004/* must be accompanied by the FIRST BSD license file in the root directory of */
005/* the project.                                                               */
006/*----------------------------------------------------------------------------*/
007
008package edu.wpi.first.wpilibj;
009
010/**
011 * Shuts off motors when their outputs aren't updated often enough.
012 */
013public interface MotorSafety {
014  double DEFAULT_SAFETY_EXPIRATION = 0.1;
015
016  void setExpiration(double timeout);
017
018  double getExpiration();
019
020  boolean isAlive();
021
022  void stopMotor();
023
024  void setSafetyEnabled(boolean enabled);
025
026  boolean isSafetyEnabled();
027
028  String getDescription();
029}