wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/SafePWM.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class SafePWM" class="title">Class SafePWM</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SensorBase</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.PWM</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.SafePWM</li>
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</ul>
</li>
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<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a>, <a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a>, <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></dd>
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<dl>
<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html" title="class in edu.wpi.first.wpilibj">PWMSpeedController</a></dd>
</dl>
<hr>
<br>
<pre>public class <span class="typeNameLabel">SafePWM</span>
extends <a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a>
implements <a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></pre>
<div class="block">Manages a PWM object.</div>
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<h3>Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.PeriodMultiplier.html" title="enum in edu.wpi.first.wpilibj">PWM.PeriodMultiplier</a></code></li>
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<h3>Fields inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></code></li>
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<h3>Fields inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#DEFAULT_SAFETY_EXPIRATION">DEFAULT_SAFETY_EXPIRATION</a></code></li>
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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/SafePWM.html#SafePWM-int-">SafePWM</a></span>(int channel)</code>
<div class="block">Constructor for a SafePWM object taking a channel number.</div>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span><span id="t6" class="tableTab"><span><a href="javascript:show(32);">Deprecated Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#disable--">disable</a></span>()</code> </td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#feed--">feed</a></span>()</code>
<div class="block">Feed the MotorSafety timer.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#Feed--">Feed</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span>
<div class="block"><span class="deprecationComment">Use <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#feed--"><code>feed()</code></a> instead.</span></div>
</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#getDescription--">getDescription</a></span>()</code> </td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#getExpiration--">getExpiration</a></span>()</code>
<div class="block">Return the expiration time for the PWM object.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#isAlive--">isAlive</a></span>()</code>
<div class="block">Check if the PWM object is currently alive or stopped due to a timeout.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#isSafetyEnabled--">isSafetyEnabled</a></span>()</code>
<div class="block">Check if motor safety is enabled for this object.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#setExpiration-double-">setExpiration</a></span>(double timeout)</code>
<div class="block">Set the expiration time for the PWM object.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#setSafetyEnabled-boolean-">setSafetyEnabled</a></span>(boolean enabled)</code> </td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#stopMotor--">stopMotor</a></span>()</code>
<div class="block">Stop the motor associated with this PWM object.</div>
</td>
</tr>
</table>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#enableDeadbandElimination-boolean-">enableDeadbandElimination</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#free--">free</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getChannel--">getChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getPosition--">getPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRaw--">getRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRawBounds--">getRawBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSmartDashboardType--">getSmartDashboardType</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSpeed--">getSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setBounds-double-double-double-double-double-">setBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setDisabled--">setDisabled</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPeriodMultiplier-edu.wpi.first.wpilibj.PWM.PeriodMultiplier-">setPeriodMultiplier</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPosition-double-">setPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setRaw-int-">setRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setSpeed-double-">setSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setZeroLatch--">setZeroLatch</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#startLiveWindowMode--">startLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#stopLiveWindowMode--">stopLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#updateTable--">updateTable</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></code></li>
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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>SafePWM</h4>
<pre>public SafePWM(int channel)</pre>
<div class="block">Constructor for a SafePWM object taking a channel number.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to be used for the underlying PWM object. 0-9 are on-board,
10-19 are on the MXP port.</dd>
</dl>
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<h4>setExpiration</h4>
<pre>public void setExpiration(double timeout)</pre>
<div class="block">Set the expiration time for the PWM object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#setExpiration-double-">setExpiration</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>timeout</code> - The timeout (in seconds) for this motor object</dd>
</dl>
</li>
</ul>
<a name="getExpiration--">
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<h4>getExpiration</h4>
<pre>public double getExpiration()</pre>
<div class="block">Return the expiration time for the PWM object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#getExpiration--">getExpiration</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The expiration time value.</dd>
</dl>
</li>
</ul>
<a name="isAlive--">
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<h4>isAlive</h4>
<pre>public boolean isAlive()</pre>
<div class="block">Check if the PWM object is currently alive or stopped due to a timeout.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#isAlive--">isAlive</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>a bool value that is true if the motor has NOT timed out and should still be running.</dd>
</dl>
</li>
</ul>
<a name="stopMotor--">
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<h4>stopMotor</h4>
<pre>public void stopMotor()</pre>
<div class="block">Stop the motor associated with this PWM object. This is called by the MotorSafetyHelper object
when it has a timeout for this PWM and needs to stop it from running.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#stopMotor--">stopMotor</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
</dl>
</li>
</ul>
<a name="isSafetyEnabled--">
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<h4>isSafetyEnabled</h4>
<pre>public boolean isSafetyEnabled()</pre>
<div class="block">Check if motor safety is enabled for this object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#isSafetyEnabled--">isSafetyEnabled</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if motor safety is enforced for this object</dd>
</dl>
</li>
</ul>
<a name="Feed--">
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<h4>Feed</h4>
<pre>@Deprecated
public void Feed()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> <span class="deprecationComment">Use <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#feed--"><code>feed()</code></a> instead.</span></div>
<div class="block">Feed the MotorSafety timer. This method is called by the subclass motor whenever it updates its
speed, thereby resetting the timeout value.</div>
</li>
</ul>
<a name="feed--">
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</a>
<ul class="blockList">
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<h4>feed</h4>
<pre>public void feed()</pre>
<div class="block">Feed the MotorSafety timer. This method is called by the subclass motor whenever it updates its
speed, thereby resetting the timeout value.</div>
</li>
</ul>
<a name="setSafetyEnabled-boolean-">
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<h4>setSafetyEnabled</h4>
<pre>public void setSafetyEnabled(boolean enabled)</pre>
<dl>
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<pre>public java.lang.String getDescription()</pre>
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<pre>public void disable()</pre>
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