Add SPARK and SD540 motor controllers

Change-Id: I33f9c588b6d535b1f274d211563ef146f34439b1

wpilibc/Athena/include/Spark.h

@@ -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;
+};