Real-Time Robotics Framework

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====== Switch ======
A switch block allows to select one of several input signals to write to its output. The code below shows a switch with 3 inputs where the second input is selected.
<code cpp>
Switch<3> sw;
sw.switchToInput(1);
</code>
You can also query the index of the selected input with
<code cpp>
int index = sw.getCurrentInput();
</code>

By calling 
<code cpp>
setActiveLevel(safetySystem, safetyLevel);
</code> 
the switch will only switch if the current safety level is equal or greater than the safety level set by this method.
==== Auto Switching ====
It is possible to configure a switch in such a way, that if the selected input reaches a given level within a small margin the switch does switch automatically. For this purpose you have to specify a condition with
<code cpp>
setCondition(T switchLevel, T delta, uint8_t index)
</code>
where ''switchlevel'' is the level the switch has to reach within the margin ''delta''. ''index'' is the new index of the input. As soon as the signal type of the input is no longer the default type (''double'') but, for instance, a vector ([[tools:matrix:start|]]) you have to keep in mind that the condition for the switching has to be met for each single element of the vector! \\
Before the switching can take place the switch must be armed with
<code cpp>
arm();
</code>
The function
<code cpp>
triggered();
</code>
queries the state of the switch function. It will return ''true'' as soon as the auto switching happened. 
\\
The switching might lead to a change in the safety level. In order to be able to trigger a safety event you have to register such an event beforehand.
<code cpp>
registerSafetyEvent(SafetySystem* ss, SafetyEvent* e);
</code>

==== Combining ====
Switched can be combined. If switch 1 is combined with switch 2 and switch one changes its position then switch 2 will simultaneously change its position as well. To combine switches you have to call
<code cpp>
s1.combine(s2)
</code>
where ''s2'' is the switch whose position will follow the position of ''s1''. You can combine as many switches as you want.