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WPILib 2012
WPILibRoboticsLibraryforFRC
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MotorSafetyHelper.h
00001 /*----------------------------------------------------------------------------*/ 00002 /* Copyright (c) FIRST 2008. All Rights Reserved. */ 00003 /* Open Source Software - may be modified and shared by FRC teams. The code */ 00004 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ 00005 /*----------------------------------------------------------------------------*/ 00006 00007 #ifndef __MOTOR_SAFETY_HELPER__ 00008 #define __MOTOR_SAFETY_HELPER__ 00009 00010 #include "ErrorBase.h" 00011 #include <semLib.h> 00012 00013 class MotorSafety; 00014 00015 class MotorSafetyHelper : public ErrorBase 00016 { 00017 public: 00018 MotorSafetyHelper(MotorSafety *safeObject); 00019 ~MotorSafetyHelper(); 00020 void Feed(); 00021 void SetExpiration(float expirationTime); 00022 float GetExpiration(); 00023 bool IsAlive(); 00024 void Check(); 00025 void SetSafetyEnabled(bool enabled); 00026 bool IsSafetyEnabled(); 00027 static void CheckMotors(); 00028 private: 00029 double m_expiration; // the expiration time for this object 00030 bool m_enabled; // true if motor safety is enabled for this motor 00031 double m_stopTime; // the FPGA clock value when this motor has expired 00032 MotorSafety *m_safeObject; // the object that is using the helper 00033 MotorSafetyHelper *m_nextHelper; // next object in the list of MotorSafetyHelpers 00034 static MotorSafetyHelper *m_headHelper; // the head of the list of MotorSafetyHelper objects 00035 static SEM_ID m_listMutex; // protect accesses to the list of helpers 00036 }; 00037 00038 #endif
