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https://github.com/wpilibsuite/allwpilib
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acb786a791
Most of the MotorSafety implementation was moved into the MotorSafety base class. SafePWM's inheritance of MotorSafety was moved into PWM to eliminate Java needing a helper class. In Java, a helper class for Sendable (SendableImpl) was added due to lack of multiple inheritance.
71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 "frc/PWM.h"
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#include "frc/SpeedController.h"
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namespace frc {
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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 PWM, public SpeedController {
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public:
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PWMSpeedController(PWMSpeedController&&) = default;
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PWMSpeedController& operator=(PWMSpeedController&&) = default;
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
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* the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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*/
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void Set(double value) override;
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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double Get() const override;
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void SetInverted(bool isInverted) override;
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bool GetInverted() const override;
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void Disable() override;
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void StopMotor() override;
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void PIDWrite(double output) override;
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protected:
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/**
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* Constructor for a PWM Speed Controller connected via PWM.
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*
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* @param channel The PWM channel that the controller is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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explicit PWMSpeedController(int channel);
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void InitSendable(SendableBuilder& builder) override;
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private:
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bool m_isInverted = false;
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};
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} // namespace frc
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