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https://github.com/wpilibsuite/allwpilib
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952ebb11ad
For Java, this is as simple as just adding it, as all motors already have an implementation from MotorSafety that is correctly resolved. For C++, I had to override StopMotor in the classes that descend from SafePWM and explicitly call the SafePWM version. RobotDrive now calls StopMotor on each of its SpeedControllers, instead of calling Disable or setting the motor to 0.0 as it was doing previously. Additional small formatting corrections to the previous commit starting this were added. Change-Id: Ie94565394927a910ce74bc628670ac3d658d8df9
57 lines
1.8 KiB
C++
57 lines
1.8 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 "HAL/HAL.hpp"
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#include "PIDOutput.h"
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/**
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* Interface for speed controlling devices.
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*/
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class SpeedController : public PIDOutput {
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public:
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virtual ~SpeedController() = default;
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/**
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* Common interface for setting the speed of a speed controller.
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*
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* @param speed The speed to set. Value should be between -1.0 and 1.0.
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* @param syncGroup The update group to add this Set() to, pending
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* UpdateSyncGroup(). If 0, update immediately.
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*/
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virtual void Set(float speed, uint8_t syncGroup = 0) = 0;
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/**
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* Common interface for getting the current set speed of a speed controller.
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*
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* @return The current set speed. Value is between -1.0 and 1.0.
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*/
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virtual float Get() const = 0;
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/**
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* Common interface for inverting direction of a speed controller.
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* @param isInverted The state of inversion, true is inverted.
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*/
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virtual void SetInverted(bool isInverted) = 0;
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/**
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* Common interface for disabling a motor.
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*/
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virtual void Disable() = 0;
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/**
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* Common interface for returning the inversion state of a speed controller.
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* @return isInverted The state of inversion, true is inverted.
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*/
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virtual bool GetInverted() const = 0;
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/**
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* Common interface to stop the motor until Set is called again.
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*/
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virtual void StopMotor() = 0;
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};
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