Add SpeedControllerGroup (#362)

wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2017 FIRST. 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 "SpeedControllerGroup.h"
+
+using namespace frc;
+
+void SpeedControllerGroup::Set(double speed) {
+  for (auto speedController : m_speedControllers) {
+    speedController.get().Set(m_isInverted ? -speed : speed);
+  }
+}
+
+double SpeedControllerGroup::Get() const {
+  if (!m_speedControllers.empty()) {
+    return m_speedControllers.front().get().Get();
+  }
+  return 0.0;
+}
+
+void SpeedControllerGroup::SetInverted(bool isInverted) {
+  m_isInverted = isInverted;
+}
+
+bool SpeedControllerGroup::GetInverted() const { return m_isInverted; }
+
+void SpeedControllerGroup::Disable() {
+  for (auto speedController : m_speedControllers) {
+    speedController.get().Disable();
+  }
+}
+
+void SpeedControllerGroup::StopMotor() {
+  for (auto speedController : m_speedControllers) {
+    speedController.get().StopMotor();
+  }
+}
+
+void SpeedControllerGroup::PIDWrite(double output) {
+  for (auto speedController : m_speedControllers) {
+    speedController.get().PIDWrite(output);
+  }
+}

wpilibc/src/main/native/include/SpeedControllerGroup.h

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2017 FIRST. 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 <functional>
+#include <vector>
+
+#include "SpeedController.h"
+
+namespace frc {
+
+class SpeedControllerGroup : public SpeedController {
+ public:
+  template <class... SpeedControllers>
+  explicit SpeedControllerGroup(SpeedController& speedController,
+                                SpeedControllers&... speedControllers);
+
+  void Set(double speed) override;
+  double Get() const override;
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
+  void Disable() override;
+  void StopMotor() override;
+  void PIDWrite(double output) override;
+
+ private:
+  bool m_isInverted = false;
+  std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
+};
+
+}  // namespace frc
+
+#include "SpeedControllerGroup.inc"

wpilibc/src/main/native/include/SpeedControllerGroup.inc

@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2017 FIRST. 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
+
+namespace frc {
+
+template <class... SpeedControllers>
+SpeedControllerGroup::SpeedControllerGroup(
+    SpeedController& speedController, SpeedControllers&... speedControllers)
+    : m_speedControllers{speedController, speedControllers...} {}
+
+}  // namespace frc

wpilibc/src/main/native/include/WPILib.h

@@ -78,6 +78,7 @@
 #include "Solenoid.h"
 #include "Spark.h"
 #include "SpeedController.h"
+#include "SpeedControllerGroup.h"
 #include "Talon.h"
 #include "Threads.h"
 #include "TimedRobot.h"