[wpilib] Add getVoltage to PWMMotorController (#6044)

2026-06-19 00:41:43 +00:00 · 2024-09-08 13:24:51 +08:00
parent 6e8feb154c
commit cd9922af49
3 changed files with 23 additions and 0 deletions
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -37,6 +37,10 @@ double PWMMotorController::Get() const {
  return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
 }

+units::volt_t PWMMotorController::GetVoltage() const {
+  return Get() * RobotController::GetBatteryVoltage();
+}
+
 void PWMMotorController::SetInverted(bool isInverted) {
  m_isInverted = isInverted;
 }