001package com.ctre.phoenix.motorcontrol; 002 003import edu.wpi.first.wpilibj.motorcontrol.MotorController; 004import edu.wpi.first.wpilibj.MotorSafety; 005 006/** 007 * implem of MotorSafety interface in WPI. This also allows late/lazy 008 * construction of WPI's motor safety object (which mitigates late-released bugs from WPI). 009 */ 010public class WPI_MotorSafetyImplem extends MotorSafety { 011 012 private MotorController _speedController = null; 013 private String _description = null; 014 015 /** 016 * Constructor for WPI_MotorSafetyImplem 017 * @param speedController Speed Controller to implement motor safety on 018 * @param description Description of speed controller 019 */ 020 public WPI_MotorSafetyImplem(MotorController speedController, String description) { 021 _speedController = speedController; 022 _description = description; 023 } 024 025 /** 026 * Stop the controller 027 */ 028 public void stopMotor() { _speedController.stopMotor(); } 029 030 /** 031 * @return Description of speed controller 032 */ 033 public String getDescription() { return _description; } 034}