SafePWM.h

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#ifndef __SAFE_PWM__
#define __SAFE_PWM__

#include "MotorSafety.h"
#include "PWM.h"

class MotorSafetyHelper;

class SafePWM: public PWM, public MotorSafety
{
public:
        explicit SafePWM(uint32_t channel);
        SafePWM(uint8_t moduleNumber, uint32_t channel);
        ~SafePWM();

        void SetExpiration(float timeout);
        float GetExpiration();
        bool IsAlive();
        void StopMotor();
        bool IsSafetyEnabled();
        void SetSafetyEnabled(bool enabled);
        void GetDescription(char *desc);

        virtual void SetSpeed(float speed);
private:
        void InitSafePWM();
        MotorSafetyHelper *m_safetyHelper;
};

#endif