#include <Relay.h>

Inheritance diagram for Relay:

Collaboration diagram for Relay:

Public Types
enum	Value { kOff, kOn, kForward, kReverse }

enum	Direction { kBothDirections, kForwardOnly, kReverseOnly }

Public Member Functions
	Relay (uint32_t channel, Direction direction=kBothDirections)

	Relay (uint8_t moduleNumber, uint32_t channel, Direction direction=kBothDirections)

virtual	~Relay ()

void	Set (Value value)

Value	Get ()

void	ValueChanged (ITable *source, const std::string &key, EntryValue value, bool isNew)

void	UpdateTable ()

void	StartLiveWindowMode ()

void	StopLiveWindowMode ()

std::string	GetSmartDashboardType ()

void	InitTable (ITable *subTable)

ITable *	GetTable ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Public Attributes
ITable *	m_table

Additional Inherited Members
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

Class for Spike style relay outputs. Relays are intended to be connected to spikes or similar relays. The relay channels controls a pair of pins that are either both off, one on, the other on, or both on. This translates into two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This allows off, full forward, or full reverse control of motors without variable speed. It also allows the two channels (forward and reverse) to be used independently for something that does not care about voltage polatiry (like a solenoid).

Definition at line 26 of file Relay.h.

Constructor & Destructor Documentation

Relay::Relay	(	uint32_t	channel,
		Relay::Direction	direction = `kBothDirections`
	)

Relay constructor given a channel only where the default digital module is used.

Parameters

channel	The channel number within the default module for this relay.
direction	The direction that the Relay object will control.

Definition at line 91 of file Relay.cpp.

Relay::Relay	(	uint8_t	moduleNumber,
		uint32_t	channel,
		Relay::Direction	direction = `kBothDirections`
	)

Relay constructor given the module and the channel.

Parameters

moduleNumber	The digital module this relay is connected to (1 or 2).
channel	The channel number within the module for this relay.
direction	The direction that the Relay object will control.

Definition at line 79 of file Relay.cpp.

Relay::~Relay ( )

virtual

Free the resource associated with a relay. The relay channels are set to free and the relay output is turned off.

Definition at line 102 of file Relay.cpp.

Member Function Documentation

Relay::Value Relay::Get ( )

Get the Relay State

Gets the current state of the relay.

When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not kForward/kReverse (per the recommendation in Set)

Returns: The current state of the relay as a Relay::Value

Definition at line 199 of file Relay.cpp.

std::string Relay::GetSmartDashboardType ( )

virtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

Definition at line 259 of file Relay.cpp.

ITable * Relay::GetTable ( )

virtual

Returns: the table that is currently associated with the sendable

Implements Sendable.

Definition at line 268 of file Relay.cpp.

void Relay::InitTable ( ITable * subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Implements Sendable.

Definition at line 263 of file Relay.cpp.

void Relay::Set ( Relay::Value value )

Set the relay state.

Valid values depend on which directions of the relay are controlled by the object.

When set to kBothDirections, the relay can be any of the four states: 0v-0v, 0v-12v, 12v-0v, 12v-12v

When set to kForwardOnly or kReverseOnly, you can specify the constant for the direction or you can simply specify kOff and kOn. Using only kOff and kOn is recommended.

Parameters

value The state to set the relay.

Definition at line 131 of file Relay.cpp.

void Relay::StartLiveWindowMode ( )

virtual

Start having this sendable object automatically respond to value changes reflect the value on the table.

Implements LiveWindowSendable.

Definition at line 247 of file Relay.cpp.

void Relay::StopLiveWindowMode ( )

virtual

Stop having this sendable object automatically respond to value changes.

Implements LiveWindowSendable.

Definition at line 253 of file Relay.cpp.

void Relay::UpdateTable ( )

virtual

Update the table for this sendable object with the latest values.

Implements LiveWindowSendable.

Definition at line 230 of file Relay.cpp.

void Relay::ValueChanged	(	ITable *	source,
		const std::string &	key,
		EntryValue	value,
		bool	isNew
	)

virtual

Called when a key-value pair is changed in a ITable WARNING: If a new key-value is put in this method value changed will immediatly be called which could lead to recursive code

Parameters

source	the table the key-value pair exists in
key	the key associated with the value that changed
value	the new value
isNew	true if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.

Definition at line 223 of file Relay.cpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation