Add Nidec Brushless motor. (#705)

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

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 <memory>
+#include <string>
+
+#include "DigitalOutput.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+#include "PWM.h"
+#include "SpeedController.h"
+#include "networktables/NetworkTableEntry.h"
+
+namespace frc {
+
+/**
+ * Nidec Brushless Motor.
+ */
+class NidecBrushless : public SpeedController,
+                       public MotorSafety,
+                       public LiveWindowSendable {
+ public:
+  NidecBrushless(int pwmChannel, int dioChannel);
+  ~NidecBrushless() = default;
+
+  // SpeedController interface
+  void Set(double speed) override;
+  double Get() const override;
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
+  void Disable() override;
+  void StopMotor() override;
+
+  // PIDOutput interface
+  void PIDWrite(double output) override;
+
+  // MotorSafety interface
+  void SetExpiration(double timeout) override;
+  double GetExpiration() const override;
+  bool IsAlive() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  bool IsSafetyEnabled() const override;
+  void GetDescription(llvm::raw_ostream& desc) const override;
+
+  int GetChannel() const;
+
+  // Sendable interface
+  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
+  std::string GetSmartDashboardType() const override;
+
+  // LiveWindowSendable interface
+  void UpdateTable() override;
+  void StartLiveWindowMode() override;
+  void StopLiveWindowMode() override;
+
+ private:
+  MotorSafetyHelper m_safetyHelper;
+  bool m_isInverted = false;
+  DigitalOutput m_dio;
+  PWM m_pwm;
+  double m_speed = 0.0;
+  nt::NetworkTableEntry m_valueEntry;
+  int m_valueListener;
+};
+
+}  // namespace frc