Implements a common PWMSpeedController base class

There was a lot of duplicated code between all 7 PWM speed controllers.
This moves all the duplicated code down to a base class, that will make
it easier to add speed controllers in future years if needed again. Also
if we need to add a method to all speed controllers, we only have to do
it in 1 place, and not 7.

Change-Id: I25eb1d097c0f5f7dbd7656db2f4a30d006d50f98

wpilibc/Athena/include/Jaguar.h

@@ -7,26 +7,13 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control
  */
-class Jaguar : public SafePWM, public SpeedController {
+class Jaguar : public PWMSpeedController {
  public:
   explicit Jaguar(uint32_t channel);
   virtual ~Jaguar() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-  virtual void StopMotor() override;
-
-  virtual void PIDWrite(float output) override;
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/PWMSpeedController.h

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "SafePWM.h"
+#include "SpeedController.h"
+
+/**
+ * Common base class for all PWM Speed Controllers
+ */
+class PWMSpeedController : public SafePWM, public SpeedController {
+ public:
+  virtual ~PWMSpeedController() = default;
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
+  virtual void StopMotor() override;
+
+  virtual void PIDWrite(float output) override;
+
+  virtual void SetInverted(bool isInverted) override;
+  virtual bool GetInverted() const override;
+ protected:
+  explicit PWMSpeedController(uint32_t channel);
+ private:
+  bool m_isInverted = false;
+};

wpilibc/Athena/include/SD540.h

@@ -7,27 +7,13 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * Mindsensors SD540 Speed Controller
  */
-class SD540 : public SafePWM, public SpeedController {
+class SD540 : public PWMSpeedController {
  public:
   explicit SD540(uint32_t channel);
   virtual ~SD540() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-  virtual void StopMotor() override;
-
-  virtual void PIDWrite(float output) override;
-
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/Spark.h

@@ -7,27 +7,13 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * REV Robotics Speed Controller
  */
-class Spark : public SafePWM, public SpeedController {
+class Spark : public PWMSpeedController {
  public:
   explicit Spark(uint32_t channel);
   virtual ~Spark() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-  virtual void StopMotor() override;
-
-  virtual void PIDWrite(float output) override;
-
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/Talon.h

@@ -7,26 +7,13 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
  */
-class Talon : public SafePWM, public SpeedController {
+class Talon : public PWMSpeedController {
  public:
   explicit Talon(uint32_t channel);
   virtual ~Talon() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-
-  virtual void PIDWrite(float output) override;
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-  virtual void StopMotor() override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/TalonSRX.h

@@ -7,27 +7,14 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
  * @see CANTalon for CAN control
  */
-class TalonSRX : public SafePWM, public SpeedController {
+class TalonSRX : public PWMSpeedController {
  public:
   explicit TalonSRX(uint32_t channel);
   virtual ~TalonSRX() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-  virtual void StopMotor() override;
-
-  virtual void PIDWrite(float output) override;
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/Victor.h

@@ -7,9 +7,7 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * Vex Robotics Victor 888 Speed Controller
@@ -17,20 +15,8 @@
  * The Vex Robotics Victor 884 Speed Controller can also be used with this
  * class but may need to be calibrated per the Victor 884 user manual.
  */
-class Victor : public SafePWM, public SpeedController {
+class Victor : public PWMSpeedController {
  public:
   explicit Victor(uint32_t channel);
   virtual ~Victor() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-  virtual void StopMotor() override;
-
-  virtual void PIDWrite(float output) override;
-
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/VictorSP.h

@@ -7,27 +7,13 @@
 
 #pragma once
 
-#include "SafePWM.h"
-#include "SpeedController.h"
-#include "PIDOutput.h"
+#include "PWMSpeedController.h"
 
 /**
  * Vex Robotics Victor SP Speed Controller
  */
-class VictorSP : public SafePWM, public SpeedController {
+class VictorSP : public PWMSpeedController {
  public:
   explicit VictorSP(uint32_t channel);
   virtual ~VictorSP() = default;
-  virtual void Set(float value, uint8_t syncGroup = 0) override;
-  virtual float Get() const override;
-  virtual void Disable() override;
-  virtual void StopMotor() override;
-
-  virtual void PIDWrite(float output) override;
-
-  virtual void SetInverted(bool isInverted) override;
-  virtual bool GetInverted() const override;
-
- private:
-  bool m_isInverted = false;
 };

wpilibc/Athena/include/WPILib.h

@@ -69,6 +69,7 @@
 #include "Preferences.h"
 #include "PowerDistributionPanel.h"
 #include "PWM.h"
+#include "PWMSpeedController.h"
 #include "Relay.h"
 #include "Resource.h"
 #include "RobotBase.h"

wpilibc/Athena/src/Jaguar.cpp

@@ -13,7 +13,7 @@
  * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) {
+Jaguar::Jaguar(uint32_t channel) : PWMSpeedController(channel) {
   /**
    * Input profile defined by Luminary Micro.
    *
@@ -32,53 +32,3 @@ Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) {
   LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
 }
 
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void Jaguar::Set(float speed, uint8_t syncGroup) {
-  SetSpeed(m_isInverted ? -speed : speed);
-}
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float Jaguar::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for disabling a motor.
- */
-void Jaguar::Disable() { SetRaw(kPwmDisabled); }
-
-/**
-* Common interface for inverting direction of a speed controller.
-* @param isInverted The state of inversion, true is inverted.
-*/
-void Jaguar::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool Jaguar::GetInverted() const { return m_isInverted; }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void Jaguar::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void Jaguar::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/PWMSpeedController.cpp

@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "PWMSpeedController.h"
+
+/**
+ * Constructor for a PWM Speed Controller connected via PWM
+ * @param channel The PWM channel that the controller is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+PWMSpeedController::PWMSpeedController(uint32_t channel) : SafePWM(channel) {
+}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ * @param syncGroup Unused interface.
+ */
+void PWMSpeedController::Set(float speed, uint8_t syncGroup) {
+  SetSpeed(m_isInverted ? -speed : speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float PWMSpeedController::Get() const { return GetSpeed(); }
+
+/**
+ * Common interface for disabling a motor.
+ */
+void PWMSpeedController::Disable() { SetRaw(kPwmDisabled); }
+
+/**
+* Common interface for inverting direction of a speed controller.
+* @param isInverted The state of inversion, true is inverted.
+*/
+void PWMSpeedController::SetInverted(bool isInverted) { m_isInverted = isInverted; }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool PWMSpeedController::GetInverted() const { return m_isInverted; }
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void PWMSpeedController::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void PWMSpeedController::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/SD540.cpp

@@ -31,7 +31,7 @@
  * @param channel The PWM channel that the SD540 is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-SD540::SD540(uint32_t channel) : SafePWM(channel) {
+SD540::SD540(uint32_t channel) : PWMSpeedController(channel) {
   SetBounds(2.05, 1.55, 1.50, 1.44, .94);
   SetPeriodMultiplier(kPeriodMultiplier_1X);
   SetRaw(m_centerPwm);
@@ -41,53 +41,3 @@ SD540::SD540(uint32_t channel) : SafePWM(channel) {
   LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
 }
 
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void SD540::Set(float speed, uint8_t syncGroup) {
-  SetSpeed(m_isInverted ? -speed : speed);
-}
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float SD540::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for inverting direction of a speed controller.
- * @param isInverted The state of inversion, true is inverted.
- */
-void SD540::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool SD540::GetInverted() const { return m_isInverted; }
-
-/**
- * Common interface for disabling a motor.
- */
-void SD540::Disable() { SetRaw(kPwmDisabled); }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void SD540::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void SD540::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/Spark.cpp

@@ -31,7 +31,7 @@
  * @param channel The PWM channel that the Spark is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-Spark::Spark(uint32_t channel) : SafePWM(channel) {
+Spark::Spark(uint32_t channel) : PWMSpeedController(channel) {
   SetBounds(2.003, 1.55, 1.50, 1.46, .999);
   SetPeriodMultiplier(kPeriodMultiplier_1X);
   SetRaw(m_centerPwm);
@@ -40,54 +40,3 @@ Spark::Spark(uint32_t channel) : SafePWM(channel) {
   HALReport(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
   LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
 }
-
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void Spark::Set(float speed, uint8_t syncGroup) {
-  SetSpeed(m_isInverted ? -speed : speed);
-}
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float Spark::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for inverting direction of a speed controller.
- * @param isInverted The state of inversion, true is inverted.
- */
-void Spark::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool Spark::GetInverted() const { return m_isInverted; }
-
-/**
- * Common interface for disabling a motor.
- */
-void Spark::Disable() { SetRaw(kPwmDisabled); }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void Spark::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void Spark::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/Talon.cpp

@@ -14,7 +14,7 @@
  * @param channel The PWM channel number that the Talon is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-Talon::Talon(uint32_t channel) : SafePWM(channel) {
+Talon::Talon(uint32_t channel) : PWMSpeedController(channel) {
   /* Note that the Talon uses the following bounds for PWM values. These values
    * should work reasonably well for most controllers, but if users experience
    * issues such as asymmetric behavior around the deadband or inability to
@@ -36,54 +36,3 @@ Talon::Talon(uint32_t channel) : SafePWM(channel) {
   HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
   LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
 }
-
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void Talon::Set(float speed, uint8_t syncGroup) {
-  SetSpeed(m_isInverted ? -speed : speed);
-}
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float Talon::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for disabling a motor.
- */
-void Talon::Disable() { SetRaw(kPwmDisabled); }
-
-/**
-* common interface for inverting direction of a speed controller
-* @param isInverted The state of inversion true is inverted
-*/
-void Talon::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool Talon::GetInverted() const { return m_isInverted; }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void Talon::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void Talon::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/TalonSRX.cpp

@@ -14,7 +14,7 @@
  * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) {
+TalonSRX::TalonSRX(uint32_t channel) : PWMSpeedController(channel) {
   /* Note that the TalonSRX uses the following bounds for PWM values. These
    * values should work reasonably well for most controllers, but if users
    * experience issues such as asymmetric behavior around the deadband or
@@ -35,52 +35,3 @@ TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) {
   HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
   LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
 }
-
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void TalonSRX::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); }
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float TalonSRX::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for disabling a motor.
- */
-void TalonSRX::Disable() { SetRaw(kPwmDisabled); }
-
-/**
-* Common interface for inverting direction of a speed controller.
-* @param isInverted The state of inversion, true is inverted.
-*/
-void TalonSRX::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool TalonSRX::GetInverted() const { return m_isInverted; }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void TalonSRX::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void TalonSRX::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/Victor.cpp

@@ -14,7 +14,7 @@
  * @param channel The PWM channel number that the Victor is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-Victor::Victor(uint32_t channel) : SafePWM(channel) {
+Victor::Victor(uint32_t channel) : PWMSpeedController(channel) {
   /* Note that the Victor uses the following bounds for PWM values.  These
    * values were determined empirically and optimized for the Victor 888. These
    * values should work reasonably well for Victor 884 controllers as well but
@@ -37,53 +37,3 @@ Victor::Victor(uint32_t channel) : SafePWM(channel) {
   LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
   HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
 }
-
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void Victor::Set(float speed, uint8_t syncGroup) {
-  SetSpeed(m_isInverted ? -speed : speed);
-}
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float Victor::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for disabling a motor.
- */
-void Victor::Disable() { SetRaw(kPwmDisabled); }
-/**
-* Common interface for inverting direction of a speed controller.
-* @param isInverted The state of inversion, true is inverted.
-*/
-void Victor::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool Victor::GetInverted() const { return m_isInverted; }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void Victor::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void Victor::StopMotor() { this->SafePWM::StopMotor(); }

wpilibc/Athena/src/VictorSP.cpp

@@ -31,7 +31,7 @@
  * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
-VictorSP::VictorSP(uint32_t channel) : SafePWM(channel) {
+VictorSP::VictorSP(uint32_t channel) : PWMSpeedController(channel) {
   SetBounds(2.004, 1.52, 1.50, 1.48, .997);
   SetPeriodMultiplier(kPeriodMultiplier_1X);
   SetRaw(m_centerPwm);
@@ -40,54 +40,3 @@ VictorSP::VictorSP(uint32_t channel) : SafePWM(channel) {
   HALReport(HALUsageReporting::kResourceType_VictorSP, GetChannel());
   LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
 }
-
-/**
- * Set the PWM value.
- *
- * The PWM value is set using a range of -1.0 to 1.0, appropriately
- * scaling the value for the FPGA.
- *
- * @param speed The speed value between -1.0 and 1.0 to set.
- * @param syncGroup Unused interface.
- */
-void VictorSP::Set(float speed, uint8_t syncGroup) {
-  SetSpeed(m_isInverted ? -speed : speed);
-}
-
-/**
- * Get the recently set value of the PWM.
- *
- * @return The most recently set value for the PWM between -1.0 and 1.0.
- */
-float VictorSP::Get() const { return GetSpeed(); }
-
-/**
- * Common interface for inverting direction of a speed controller.
- * @param isInverted The state of inversion, true is inverted.
- */
-void VictorSP::SetInverted(bool isInverted) { m_isInverted = isInverted; }
-
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
-bool VictorSP::GetInverted() const { return m_isInverted; }
-
-/**
- * Common interface for disabling a motor.
- */
-void VictorSP::Disable() { SetRaw(kPwmDisabled); }
-
-/**
- * Write out the PID value as seen in the PIDOutput base object.
- *
- * @param output Write out the PWM value as was found in the PIDController
- */
-void VictorSP::PIDWrite(float output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void VictorSP::StopMotor() { this->SafePWM::StopMotor(); }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java

@@ -16,8 +16,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  *$
  * @see CANJaguar CANJaguar for CAN control
  */
-public class Jaguar extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class Jaguar extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -50,78 +49,4 @@ public class Jaguar extends SafePWM implements SpeedController {
     super(channel);
     initJaguar();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  @Deprecated
-  @Override
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  @Override
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller.
-   *
-   * @param isInverted The state of inversion, true is inverted.
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  @Override
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  @Override
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java

@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+/**
+ * Common base class for all PWM Speed Controllers.
+ */
+public abstract class PWMSpeedController extends SafePWM implements SpeedController {
+  private boolean isInverted = false;
+
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the controller is attached to. 0-9 are
+   *        on-board, 10-19 are on the MXP port
+   */
+  protected PWMSpeedController(int channel) {
+    super(channel);
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * @deprecated For compatibility with CANJaguar
+   *
+   *             The PWM value is set using a range of -1.0 to 1.0,
+   *             appropriately scaling the value for the FPGA.
+   *
+   * @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.
+   */
+  @Deprecated
+  public void set(double speed, byte syncGroup) {
+    setSpeed(isInverted ? -speed : speed);
+    Feed();
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
+   * the value for the FPGA.
+   *
+   * @param speed The speed value between -1.0 and 1.0 to set.
+   */
+  public void set(double speed) {
+    setSpeed(isInverted ? -speed : speed);
+    Feed();
+  }
+
+  /**
+   * Common interface for inverting direction of a speed controller
+   *
+   * @param isInverted The state of inversion true is inverted
+   */
+  @Override
+  public void setInverted(boolean isInverted) {
+    this.isInverted = isInverted;
+  }
+
+  /**
+   * Common interface for the inverting direction of a speed controller.
+   *
+   * @return isInverted The state of inversion, true is inverted.
+   *
+   */
+  @Override
+  public boolean getInverted() {
+    return this.isInverted;
+  }
+
+  /**
+   * Get the recently set value of the PWM.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  public double get() {
+    return getSpeed();
+  }
+
+  /**
+   * Write out the PID value as seen in the PIDOutput base object.
+   *
+   * @param output Write out the PWM value as was found in the PIDController
+   */
+  public void pidWrite(double output) {
+    set(output);
+  }
+}

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 /**
  * Mindsensors SD540 Speed Controller
  */
-public class SD540 extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class SD540 extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -51,73 +50,4 @@ public class SD540 extends SafePWM implements SpeedController {
     super(channel);
     initSD540();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller
-   *
-   * @param isInverted The state of inversion true is inverted
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 /**
  * REV Robotics SPARK Speed Controller
  */
-public class Spark extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class Spark extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -51,73 +50,4 @@ public class Spark extends SafePWM implements SpeedController {
     super(channel);
     initSpark();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller
-   *
-   * @param isInverted The state of inversion true is inverted
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 /**
  * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
  */
-public class Talon extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class Talon extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -51,74 +50,4 @@ public class Talon extends SafePWM implements SpeedController {
     super(channel);
     initTalon();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller
-   *
-   * @param isInverted The state of inversion true is inverted
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java

@@ -16,8 +16,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  *$
  * @see CANTalon CANTalon for CAN control of Talon SRX
  */
-public class TalonSRX extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class TalonSRX extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -53,73 +52,4 @@ public class TalonSRX extends SafePWM implements SpeedController {
     super(channel);
     initTalonSRX();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller.
-   *
-   * @param isInverted The state of inversion, true is inverted.
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java

@@ -17,8 +17,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  * The Vex Robotics Victor 884 Speed Controller can also be used with this class
  * but may need to be calibrated per the Victor 884 user manual.
  */
-public class Victor extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class Victor extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -56,73 +55,4 @@ public class Victor extends SafePWM implements SpeedController {
     super(channel);
     initVictor();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller
-   *
-   * @param isInverted The state of inversion true is inverted
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 /**
  * VEX Robotics Victor SP Speed Controller
  */
-public class VictorSP extends SafePWM implements SpeedController {
-  private boolean isInverted = false;
+public class VictorSP extends PWMSpeedController {
 
   /**
    * Common initialization code called by all constructors.
@@ -51,73 +50,4 @@ public class VictorSP extends SafePWM implements SpeedController {
     super(channel);
     initVictorSP();
   }
-
-  /**
-   * Set the PWM value.
-   *
-   * @deprecated For compatibility with CANJaguar
-   *
-   *             The PWM value is set using a range of -1.0 to 1.0,
-   *             appropriately scaling the value for the FPGA.
-   *
-   * @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.
-   */
-  public void set(double speed, byte syncGroup) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  public void set(double speed) {
-    setSpeed(isInverted ? -speed : speed);
-    Feed();
-  }
-
-  /**
-   * Common interface for inverting direction of a speed controller
-   *
-   * @param isInverted The state of inversion true is inverted
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    this.isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   *
-   */
-  @Override
-  public boolean getInverted() {
-    return this.isInverted;
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  public double get() {
-    return getSpeed();
-  }
-
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  public void pidWrite(double output) {
-    set(output);
-  }
 }