Package edu.wpi.first.wpilibj
Class MotorSafety
- java.lang.Object
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- edu.wpi.first.wpilibj.MotorSafety
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- Direct Known Subclasses:
NidecBrushless
,PWMMotorController
,Relay
,RobotDriveBase
public abstract class MotorSafety extends Object
This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires.The subclass should call feed() whenever the motor value is updated.
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Constructor Summary
Constructors Constructor Description MotorSafety()
MotorSafety constructor.
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Method Summary
All Methods Static Methods Instance Methods Abstract Methods Concrete Methods Modifier and Type Method Description void
check()
Check if this motor has exceeded its timeout.static void
checkMotors()
Check the motors to see if any have timed out.void
feed()
Feed the motor safety object.abstract String
getDescription()
double
getExpiration()
Retrieve the timeout value for the corresponding motor safety object.boolean
isAlive()
Determine of the motor is still operating or has timed out.boolean
isSafetyEnabled()
Return the state of the motor safety enabled flag.void
setExpiration(double expirationTime)
Set the expiration time for the corresponding motor safety object.void
setSafetyEnabled(boolean enabled)
Enable/disable motor safety for this device.abstract void
stopMotor()
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Constructor Detail
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MotorSafety
public MotorSafety()
MotorSafety constructor.
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Method Detail
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feed
public void feed()
Feed the motor safety object.Resets the timer on this object that is used to do the timeouts.
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setExpiration
public void setExpiration(double expirationTime)
Set the expiration time for the corresponding motor safety object.- Parameters:
expirationTime
- The timeout value in seconds.
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getExpiration
public double getExpiration()
Retrieve the timeout value for the corresponding motor safety object.- Returns:
- the timeout value in seconds.
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isAlive
public boolean isAlive()
Determine of 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.
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check
public void 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.
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setSafetyEnabled
public void setSafetyEnabled(boolean 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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isSafetyEnabled
public boolean isSafetyEnabled()
Return the state of the motor safety enabled flag.Return if the motor safety is currently enabled for this device.
- Returns:
- True if motor safety is enforced for this device
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checkMotors
public static void checkMotors()
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.
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stopMotor
public abstract void stopMotor()
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getDescription
public abstract String getDescription()
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