edu.wpi.first.wpilibj

Class SafePWM

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.PWM

edu.wpi.first.wpilibj.SafePWM

All Implemented Interfaces:

MotorSafety, Sendable

Direct Known Subclasses:

PWMSpeedController

public class SafePWM
extends PWM
implements MotorSafety

Manages a PWM object.

Nested Class Summary

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

PWM.PeriodMultiplier

Field Summary

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

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Constructor and Description
SafePWM(int channel) Constructor for a SafePWM object taking a channel number.

Method Summary

Modifier and Type	Method and Description
void	disable()
void	feed() Feed the MotorSafety timer.
void	Feed() Deprecated. Use feed() instead.
java.lang.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) Set the expiration time for the PWM object.
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, getPosition, getRaw, getRawBounds, getSpeed, initSendable, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setSpeed, setZeroLatch

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

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

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. 0-9 are on-board, 10-19 are on the MXP port.

Method Detail

setExpiration

public void setExpiration(double timeout)

Set the expiration time for the PWM object.

Specified by:

setExpiration in interface MotorSafety

Parameters:

timeout - The timeout (in seconds) for this motor object

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

@Deprecated
public void Feed()

Deprecated. Use feed() instead.

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

feed

public void feed()

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

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

Specified by:

setSafetyEnabled in interface MotorSafety

getDescription

public java.lang.String getDescription()

Specified by:

getDescription in interface MotorSafety

disable

public void disable()