SafePWM.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "SafePWM.h"

#include "MotorSafetyHelper.h"

void SafePWM::InitSafePWM()
{
        m_safetyHelper = new MotorSafetyHelper(this);
        m_safetyHelper->SetSafetyEnabled(false);
}

SafePWM::SafePWM(uint32_t channel): PWM(channel)
{
        InitSafePWM();
}

SafePWM::SafePWM(uint8_t moduleNumber, uint32_t channel): PWM(moduleNumber, channel)
{
        InitSafePWM();
}

SafePWM::~SafePWM()
{
        delete m_safetyHelper;
}

/*
 * Set the expiration time for the PWM object
 * @param timeout The timeout (in seconds) for this motor object
 */
void SafePWM::SetExpiration(float timeout)
{
        m_safetyHelper->SetExpiration(timeout);
}

float SafePWM::GetExpiration()
{
        return m_safetyHelper->GetExpiration();
}

bool SafePWM::IsAlive()
{
        return m_safetyHelper->IsAlive();
}

void SafePWM::StopMotor()
{
        SetRaw(kPwmDisabled);
}

void SafePWM::SetSafetyEnabled(bool enabled)
{
        m_safetyHelper->SetSafetyEnabled(enabled);
}

bool SafePWM::IsSafetyEnabled()
{
        return m_safetyHelper->IsSafetyEnabled();
}

void SafePWM::GetDescription(char *desc)
{
        sprintf(desc, "PWM %ld on module %ld", GetChannel(), GetModuleNumber());
}

void SafePWM::SetSpeed(float speed)
{
        PWM::SetSpeed(speed);
        m_safetyHelper->Feed();
}