mirror of
https://github.com/wpilibsuite/allwpilib
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36 lines
584 B
C
36 lines
584 B
C
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#ifndef _SIM_SPEED_CONTROLLER_H
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#define _SIM_SPEED_CONTROLLER_H
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#include <gazebo/transport/transport.hh>
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#include "SpeedController.h"
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using namespace gazebo;
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class SimContinuousOutput {
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private:
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transport::PublisherPtr pub;
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float speed;
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public:
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SimContinuousOutput(std::string topic);
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/**
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* Set the output value.
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*
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* The value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value.
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*
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* @param value The value between -1.0 and 1.0 to set.
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*/
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void Set(float value);
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/**
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* @return The most recently set value.
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*/
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float Get();
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};
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#endif
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