wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/MotorSafetyHelper.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class MotorSafetyHelper" class="title">Class MotorSafetyHelper</h2>
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<li>java.lang.Object</li>
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<li>edu.wpi.first.wpilibj.MotorSafetyHelper</li>
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<pre>public final class <span class="typeNameLabel">MotorSafetyHelper</span>
extends java.lang.Object</pre>
<div class="block">The MotorSafetyHelper 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.</div>
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<h3>Constructor Summary</h3>
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<th class="colOne" scope="col">Constructor and Description</th>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#MotorSafetyHelper-edu.wpi.first.wpilibj.MotorSafety-">MotorSafetyHelper</a></span>(<a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a> safeObject)</code>
<div class="block">The constructor for a MotorSafetyHelper object.</div>
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<th class="colLast" scope="col">Method and Description</th>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#check--">check</a></span>()</code>
<div class="block">Check if this motor has exceeded its timeout.</div>
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<td class="colFirst"><code>static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#checkMotors--">checkMotors</a></span>()</code>
<div class="block">Check the motors to see if any have timed out.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#feed--">feed</a></span>()</code>
<div class="block">Feed the motor safety object.</div>
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<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#getExpiration--">getExpiration</a></span>()</code>
<div class="block">Retrieve the timeout value for the corresponding motor safety object.</div>
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<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#isAlive--">isAlive</a></span>()</code>
<div class="block">Determine of the motor is still operating or has timed out.</div>
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<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#isSafetyEnabled--">isSafetyEnabled</a></span>()</code>
<div class="block">Return the state of the motor safety enabled flag Return if the motor safety is currently
enabled for this device.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#setExpiration-double-">setExpiration</a></span>(double expirationTime)</code>
<div class="block">Set the expiration time for the corresponding motor safety object.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html#setSafetyEnabled-boolean-">setSafetyEnabled</a></span>(boolean enabled)</code>
<div class="block">Enable/disable motor safety for this device Turn on and off the motor safety option for this
PWM object.</div>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>MotorSafetyHelper</h4>
<pre>public MotorSafetyHelper(<a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a> safeObject)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>safeObject</code> - a pointer to the motor object implementing MotorSafety. This is used to call
the Stop() method on the motor.</dd>
</dl>
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<h4>feed</h4>
<pre>public void feed()</pre>
<div class="block">Feed the motor safety object. Resets the timer on this object that is used to do the timeouts.</div>
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<h4>setExpiration</h4>
<pre>public void setExpiration(double expirationTime)</pre>
<div class="block">Set the expiration time for the corresponding motor safety object.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>expirationTime</code> - The timeout value in seconds.</dd>
</dl>
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<h4>getExpiration</h4>
<pre>public double getExpiration()</pre>
<div class="block">Retrieve the timeout value for the corresponding motor safety object.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the timeout value in seconds.</dd>
</dl>
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<h4>isAlive</h4>
<pre>public boolean isAlive()</pre>
<div class="block">Determine of the motor is still operating or has timed out.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>a true value if the motor is still operating normally and hasn't timed out.</dd>
</dl>
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<h4>check</h4>
<pre>public void check()</pre>
<div class="block">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.</div>
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<h4>setSafetyEnabled</h4>
<pre>public void setSafetyEnabled(boolean enabled)</pre>
<div class="block">Enable/disable motor safety for this device Turn on and off the motor safety option for this
PWM object.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>enabled</code> - True if motor safety is enforced for this object</dd>
</dl>
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<pre>public boolean isSafetyEnabled()</pre>
<div class="block">Return the state of the motor safety enabled flag Return if the motor safety is currently
enabled for this device.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if motor safety is enforced for this device</dd>
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<h4>checkMotors</h4>
<pre>public static void checkMotors()</pre>
<div class="block">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.</div>
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