text: //====================================================================================================================================================
  // Copyright 2019 Lake Orion Robotics FIRST Team 302
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
  // to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
  // and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
  // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
  // DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
  // OR OTHER DEALINGS IN THE SOFTWARE.
  //====================================================================================================================================================
  
  // C++ Includes
  #include <memory>
  #include <string>
  
  // FRC includes
  #include <frc2/Timer.h>
  
  // Team 302 includes
  #include <subsys/Mech.h>
  #include <subsys/MechanismTypes.h>
  #include <utils/Logger.h>
  
  // Third Party Includes
  #include <units/time.h>
  
  using namespace frc2;
  using namespace std;
  
  /// @brief create the general mechanism
  /// @param [in] MechanismTypes::MECHANISM_TYPE the type of mechansim
  /// @param [in] std::string the name of the file that will set control parameters for this mechanism
  /// @param [in] std::string the name of the network table for logging information
  Mech::Mech
  (
      MechanismTypes::MECHANISM_TYPE  type,
      std::string                     controlFileName,
      std::string                     networkTableName
  ) : IMech(), 
      m_type( type ),
      m_controlFile( controlFileName ),
      m_ntName( networkTableName )
  {
      if ( controlFileName.empty() )
      {
          Logger::GetLogger()->LogError( Logger::LOGGER_LEVEL::ERROR_ONCE, string( "Mech" ), string( "control file name is not specified" ) );
      }
  
      if ( networkTableName.empty() )
      {
          Logger::GetLogger()->LogError( Logger::LOGGER_LEVEL::ERROR_ONCE, string( "Mech" ), string( "network table name is not specified" ) );
      }
  
      m_timer = make_unique<Timer>();
      m_lastTime = m_timer.get()->GetFPGATimestamp();
  
  }
  
  
  /// @brief          Indicates the type of mechanism this is
  /// @return         MechanismTypes::MECHANISM_TYPE
  MechanismTypes::MECHANISM_TYPE Mech::GetType() const 
  {
      return m_type;
  }
  
  /// @brief indicate the file used to get the control parameters from
  /// @return std::string the name of the file 
  std::string Mech::GetControlFileName() const 
  {
      return m_controlFile;
  }
  
  
  /// @brief indicate the network table name used to for logging parameters
  /// @return std::string the name of the network table 
  std::string Mech::GetNetworkTableName() const 
  {
      return m_ntName;
  }
  
  
  /// @brief log data to the network table if it is activated and time period has past
  void Mech::LogData()
  {
  }
  
  