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Add SPARK and SD540 motor controllers

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Change-Id: I33f9c588b6d535b1f274d211563ef146f34439b1
This commit is contained in:
Kevin O'Connor
2015-12-11 16:37:53 -05:00
parent 9316933454
commit fa903dd9ce
7 changed files with 486 additions and 0 deletions
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31
wpilibc/Athena/include/SD540.h Normal file
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@@ -0,0 +1,31 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SafePWM.h"
#include "SpeedController.h"
#include "PIDOutput.h"
/**
* Mindsensors SD540 Speed Controller
*/
class SD540 : public SafePWM, public SpeedController {
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 PIDWrite(float output) override;
virtual void SetInverted(bool isInverted) override;
virtual bool GetInverted() const override;
private:
bool m_isInverted = false;
};

31
wpilibc/Athena/include/Spark.h Normal file
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@@ -0,0 +1,31 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SafePWM.h"
#include "SpeedController.h"
#include "PIDOutput.h"
/**
* REV Robotics Speed Controller
*/
class Spark : public SafePWM, public SpeedController {
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 PIDWrite(float output) override;
virtual void SetInverted(bool isInverted) override;
virtual bool GetInverted() const override;
private:
bool m_isInverted = false;
};

2
wpilibc/Athena/include/WPILib.h
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@@ -71,6 +71,7 @@
#include "Resource.h"
#include "RobotBase.h"
#include "RobotDrive.h"
#include "SD540.h"
#include "SensorBase.h"
#include "SerialPort.h"
#include "Servo.h"
@@ -78,6 +79,7 @@
#include "SmartDashboard/SendableChooser.h"
#include "SmartDashboard/SmartDashboard.h"
#include "Solenoid.h"
#include "Spark.h"
#include "SpeedController.h"
#include "SPI.h"
#include "Talon.h"