frc::Relay Class Reference

Class for Spike style relay outputs. More...

#include <frc/Relay.h>

Inheritance diagram for frc::Relay:

Public Types
enum	Value { kOff , kOn , kForward , kReverse }
	The state to drive a Relay to. More...
enum	Direction { kBothDirections , kForwardOnly , kReverseOnly }
	The Direction(s) that a relay is configured to operate in. More...

Public Member Functions
	Relay (int channel, Direction direction=kBothDirections)
	Relay constructor given a channel. More...
	~Relay () override
	Free the resource associated with a relay. More...
	Relay (Relay &&)=default
Relay &	operator= (Relay &&)=default
void	Set (Value value)
	Set the relay state. More...
Value	Get () const
	Get the Relay State. More...
int	GetChannel () const
void	StopMotor () override
	Called to stop the motor when the timeout expires. More...
std::string	GetDescription () const override
	Returns a description to print when an error occurs. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from frc::MotorSafety
	MotorSafety ()
virtual	~MotorSafety ()
	MotorSafety (MotorSafety &&rhs)
MotorSafety &	operator= (MotorSafety &&rhs)
void	Feed ()
	Feed the motor safety object. More...
void	SetExpiration (units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object. More...
units::second_t	GetExpiration () const
	Retrieve the timeout value for the corresponding motor safety object. More...
bool	IsAlive () const
	Determine if the motor is still operating or has timed out. More...
void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device. More...
bool	IsSafetyEnabled () const
	Return the state of the motor safety enabled flag. More...
void	Check ()
	Check if this motor has exceeded its timeout. More...
virtual void	StopMotor ()=0
	Called to stop the motor when the timeout expires. More...
virtual std::string	GetDescription () const =0
	Returns a description to print when an error occurs. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< Relay >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Static Public Member Functions inherited from frc::MotorSafety
static void	CheckMotors ()
	Check the motors to see if any have timed out. More...
Protected Member Functions inherited from wpi::SendableHelper< Relay >
	SendableHelper ()=default
	~SendableHelper ()

Detailed Description

Class for Spike style relay outputs.

Relays are intended to be connected to spikes or similar relays. The relay channels controls a pair of pins that are either both off, one on, the other on, or both on. This translates into two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This allows off, full forward, or full reverse control of motors without variable speed. It also allows the two channels (forward and reverse) to be used independently for something that does not care about voltage polarity (like a solenoid).

Member Enumeration Documentation

Direction

enum frc::Relay::Direction

The Direction(s) that a relay is configured to operate in.

Enumerator
kBothDirections	Both directions are valid.
kForwardOnly	Only forward is valid.
kReverseOnly	Only reverse is valid.

Value

enum frc::Relay::Value

The state to drive a Relay to.

Enumerator
kOff	Off.
kOn	On.
kForward	Forward.
kReverse	Reverse.

Constructor & Destructor Documentation

Relay() [1/2]

frc::Relay::Relay ( int  channel, Direction  direction = kBothDirections  )

explicit

Relay constructor given a channel.

This code initializes the relay and reserves all resources that need to be locked. Initially the relay is set to both lines at 0v.

Parameters

channel	The channel number (0-3).
direction	The direction that the Relay object will control.

~Relay()

frc::Relay::~Relay ( )

override

Free the resource associated with a relay.

The relay channels are set to free and the relay output is turned off.

Relay() [2/2]

frc::Relay::Relay ( Relay &&  )

default

Member Function Documentation

Get()

Value frc::Relay::Get

(

)

const

Get the Relay State.

Gets the current state of the relay.

When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not kForward/kReverse (per the recommendation in Set).

Returns

The current state of the relay as a Relay::Value

GetChannel()

int frc::Relay::GetChannel

(

)

const

GetDescription()

std::string frc::Relay::GetDescription ( ) const

overridevirtual

Returns a description to print when an error occurs.

Returns

Description to print when an error occurs.

Implements frc::MotorSafety.

InitSendable()

void frc::Relay::InitSendable ( wpi::SendableBuilder &  builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

Relay & frc::Relay::operator= ( Relay &&  )

default

Set()

void frc::Relay::Set

(

Value

value

)

Set the relay state.

Valid values depend on which directions of the relay are controlled by the object.

When set to kBothDirections, the relay can be any of the four states: 0v-0v, 0v-12v, 12v-0v, 12v-12v

When set to kForwardOnly or kReverseOnly, you can specify the constant for the direction or you can simply specify kOff and kOn. Using only kOff and kOn is recommended.

Parameters

value

The state to set the relay.

StopMotor()

void frc::Relay::StopMotor ( )

overridevirtual

Called to stop the motor when the timeout expires.

Implements frc::MotorSafety.

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

• frc/Relay.h