MotorSafetyHelper Class Reference

Inheritance diagram for MotorSafetyHelper:

Public Member Functions
	MotorSafetyHelper (MotorSafety *safeObject)
void	Feed ()
void	SetExpiration (float expirationTime)
float	GetExpiration ()
bool	IsAlive ()
void	Check ()
void	SetSafetyEnabled (bool enabled)
bool	IsSafetyEnabled ()
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...

Static Public Member Functions
static void	CheckMotors ()
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 ()

Additional Inherited Members
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

Constructor & Destructor Documentation

MotorSafetyHelper::MotorSafetyHelper

(

MotorSafety *

safeObject

)

The constructor for a MotorSafetyHelper object. The helper object is constructed for every object that wants to implement the Motor Safety protocol. The helper object has the code to actually do the timing and call the motors Stop() method when the timeout expires. The motor object is expected to call the Feed() method whenever the motors value is updated.

Parameters

safeObject

a pointer to the motor object implementing MotorSafety. This is used to call the Stop() method on the motor.

Member Function Documentation

void MotorSafetyHelper::Check

(

)

Check if this motor has exceeded its timeout. This method is called periodically to determine if this motor has exceeded its timeout value. If it has, the stop method is called, and the motor is shut down until its value is updated again.

void MotorSafetyHelper::CheckMotors ( )

static

Check the motors to see if any have timed out. This static method is called periodically to poll all the motors and stop any that have timed out.

float MotorSafetyHelper::GetExpiration

(

)

Retrieve the timeout value for the corresponding motor safety object.

Returns

the timeout value in seconds.

bool MotorSafetyHelper::IsAlive

(

)

Determine if the motor is still operating or has timed out.

Returns

a true value if the motor is still operating normally and hasn't timed out.

bool MotorSafetyHelper::IsSafetyEnabled

(

)

Return the state of the motor safety enabled flag Return if the motor safety is currently enabled for this devicce.

Returns

True if motor safety is enforced for this device

void MotorSafetyHelper::SetSafetyEnabled

(

bool

enabled

)

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

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

• MotorSafetyHelper.h
• MotorSafetyHelper.cpp