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WPILib 2012
WPILibRoboticsLibraryforFRC
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MotorSafety.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 #ifndef _MOTOR_SAFETY_ 00007 #define _MOTOR_SAFETY_ 00008 00009 #define DEFAULT_SAFETY_EXPIRATION 0.1 00010 00011 class MotorSafety { 00012 public: 00013 virtual void SetExpiration(float timeout) = 0; 00014 virtual float GetExpiration() = 0; 00015 virtual bool IsAlive() = 0; 00016 virtual void StopMotor() = 0; 00017 virtual void SetSafetyEnabled(bool enabled) = 0; 00018 virtual bool IsSafetyEnabled() = 0; 00019 virtual void GetDescription(char *desc) = 0; 00020 }; 00021 00022 #endif 00023
