allwpilib/wpilibc/Athena/include/SpeedController.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include "HAL/HAL.hpp"
#include "PIDOutput.h"

/**
 * Interface for speed controlling devices.
 */
class SpeedController : public PIDOutput {
 public:
  virtual ~SpeedController() = default;
  /**
   * Common interface for setting the speed of a speed controller.
   *
   * @param speed The speed to set.  Value should be between -1.0 and 1.0.
   * @param syncGroup The update group to add this Set() to, pending
   * UpdateSyncGroup().  If 0, update immediately.
   */
  virtual void Set(float speed, uint8_t syncGroup = 0) = 0;

  /**
   * Common interface for getting the current set speed of a speed controller.
   *
   * @return The current set speed.  Value is between -1.0 and 1.0.
   */
  virtual float Get() const = 0;

  /**
  * Common interface for inverting direction of a speed controller.
  * @param isInverted The state of inversion, true is inverted.
  */
  virtual void SetInverted(bool isInverted) = 0;
  /**

   * Common interface for disabling a motor.
   */
  virtual void Disable() = 0;

  /**
   * Common interface for returning the inversion state of a speed controller.
   * @return isInverted The state of inversion, true is inverted.
   */
  virtual bool GetInverted() const = 0;

  /**
   * Common interface to stop the motor until Set is called again.
   */
  virtual void StopMotor() = 0;
};