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https://github.com/wpilibsuite/allwpilib
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0f228e7b7d
There was a lot of duplicated code between all 7 PWM speed controllers. This moves all the duplicated code down to a base class, that will make it easier to add speed controllers in future years if needed again. Also if we need to add a method to all speed controllers, we only have to do it in 1 place, and not 7. Change-Id: I25eb1d097c0f5f7dbd7656db2f4a30d006d50f98
32 lines
1.1 KiB
C++
32 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SafePWM.h"
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#include "SpeedController.h"
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/**
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* Common base class for all PWM Speed Controllers
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*/
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class PWMSpeedController : public SafePWM, public SpeedController {
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public:
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virtual ~PWMSpeedController() = default;
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virtual void Set(float value, uint8_t syncGroup = 0) override;
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virtual float Get() const override;
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virtual void Disable() override;
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virtual void StopMotor() override;
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virtual void PIDWrite(float output) override;
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virtual void SetInverted(bool isInverted) override;
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virtual bool GetInverted() const override;
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protected:
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explicit PWMSpeedController(uint32_t channel);
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private:
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bool m_isInverted = false;
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}; |