/// <summary>
/// The constructor for a <see cref="MotorSafetyHelper"/> object
/// </summary><remarks>
/// 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.
/// </remarks>
/// <param name="safeObject">A pointer to the motor object implementing <see cref="IMotorSafety"/>. This is used
/// to call the Stop() method on the motor</param>
public MotorSafetyHelper(IMotorSafety safeObject)
{
m_safeObject = safeObject;
SafetyEnabled = false;
Expiration = DefaultSafetyExpiration;
m_stopTime = GetFPGATimestamp();
lock (s_lockObject)
{
m_nextHelper = s_headHelper;
s_headHelper = this;
}
}
/// <summary>
/// The constructor for a <see cref="MotorSafetyHelper"/> object
/// </summary><remarks>
/// 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.
/// </remarks>
/// <param name="safeObject">A pointer to the motor object implementing <see cref="IMotorSafety"/>. This is used
/// to call the Stop() method on the motor</param>
public MotorSafetyHelper(IMotorSafety safeObject)
{
m_safeObject = safeObject;
SafetyEnabled = false;
Expiration = DefaultSafetyExpiration;
m_stopTime = GetFPGATimestamp();
lock (s_lockObject)
{
m_nextHelper = s_headHelper;
s_headHelper = this;
}
}