SafePWM Class Reference

#include <SafePWM.h>

Inheritance diagram for SafePWM:

Collaboration diagram for SafePWM:

Public Member Functions
	SafePWM (uint32_t channel)
	SafePWM (uint8_t moduleNumber, uint32_t channel)
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)
Public Member Functions inherited from PWM
	PWM (uint32_t channel)
	PWM (uint8_t moduleNumber, uint32_t channel)
virtual	~PWM ()
virtual void	SetRaw (uint8_t value)
virtual uint8_t	GetRaw ()
void	SetPeriodMultiplier (PeriodMultiplier mult)
void	EnableDeadbandElimination (bool eliminateDeadband)
void	SetBounds (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)
void	SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
uint32_t	GetChannel ()
uint32_t	GetModuleNumber ()
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...

Additional Inherited Members
Public Types inherited from PWM
enum	PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
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 PWM
virtual void	SetPosition (float pos)
virtual float	GetPosition ()
virtual float	GetSpeed ()
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 ()
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 PWM
bool	m_eliminateDeadband
int32_t	m_maxPwm
int32_t	m_deadbandMaxPwm
int32_t	m_centerPwm
int32_t	m_deadbandMinPwm
int32_t	m_minPwm
ITable *	m_table
Protected Attributes inherited from ErrorBase
Error	m_error
Static Protected Attributes inherited from PWM
static constexpr float	kDefaultPwmPeriod = 5.05
static constexpr float	kDefaultPwmCenter = 1.5
static const int32_t	kDefaultPwmStepsDown = 128
static const int32_t	kPwmDisabled = 0
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

A safe version of the PWM class. It is safe because it implements the MotorSafety interface that provides timeouts in the event that the motor value is not updated before the expiration time. This delegates the actual work to a MotorSafetyHelper object that is used for all objects that implement MotorSafety.

Definition at line 22 of file SafePWM.h.

Constructor & Destructor Documentation

SafePWM::SafePWM ( uint32_t  channel )

explicit

Constructor for a SafePWM object taking a channel number

Parameters

channel

The channel number to be used for the underlying PWM object

Definition at line 24 of file SafePWM.cpp.

SafePWM::SafePWM	(	uint8_t	moduleNumber,
		uint32_t	channel
	)

Constructor for a SafePWM object taking channel and slot numbers.

Parameters

moduleNumber	The digital module (1 or 2).
channel	The PWM channel number on the module (1..10).

Definition at line 34 of file SafePWM.cpp.

Member Function Documentation

float SafePWM::GetExpiration ( )

virtual

Return the expiration time for the PWM object.

Returns

The expiration time value.

Implements MotorSafety.

Definition at line 57 of file SafePWM.cpp.

bool SafePWM::IsAlive ( )

virtual

Check if the PWM object is currently alive or stopped due to a timeout.

Returns

a bool value that is true if the motor has NOT timed out and should still be running.

Implements MotorSafety.

Definition at line 67 of file SafePWM.cpp.

bool SafePWM::IsSafetyEnabled ( )

virtual

Check if motor safety is enabled for this object

Returns

True if motor safety is enforced for this object

Implements MotorSafety.

Definition at line 96 of file SafePWM.cpp.

void SafePWM::SetSafetyEnabled ( bool  enabled )

virtual

Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM object.

Parameters

enabled

True if motor safety is enforced for this object

Implements MotorSafety.

Definition at line 87 of file SafePWM.cpp.

void SafePWM::SetSpeed ( float  speed )

virtual

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

Parameters

speed

Value to pass to the PWM class

Reimplemented from PWM.

Definition at line 112 of file SafePWM.cpp.

void SafePWM::StopMotor ( )

virtual

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.

Implements MotorSafety.

Definition at line 77 of file SafePWM.cpp.

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

• SafePWM.h
• SafePWM.cpp