mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
51 lines
1.6 KiB
C++
51 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* 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 "HAL/HAL.hpp"
|
|
#include "PIDOutput.h"
|
|
|
|
/**
|
|
* Interface for speed controlling devices.
|
|
*/
|
|
class SpeedController : public PIDOutput {
|
|
public:
|
|
virtual ~SpeedController() = default;
|
|
/**
|
|
* Common interface for setting the speed of a speed controller.
|
|
*
|
|
* @param speed The speed to set. Value should be between -1.0 and 1.0.
|
|
* @param syncGroup The update group to add this Set() to, pending
|
|
* UpdateSyncGroup(). If 0, update immediately.
|
|
*/
|
|
virtual void Set(float speed, uint8_t syncGroup = 0) = 0;
|
|
|
|
/**
|
|
* Common interface for getting the current set speed of a speed controller.
|
|
*
|
|
* @return The current set speed. Value is between -1.0 and 1.0.
|
|
*/
|
|
virtual float Get() const = 0;
|
|
|
|
/**
|
|
* Common interface for inverting direction of a speed controller.
|
|
* @param isInverted The state of inversion, true is inverted.
|
|
*/
|
|
virtual void SetInverted(bool isInverted) = 0;
|
|
/**
|
|
|
|
* Common interface for disabling a motor.
|
|
*/
|
|
virtual void Disable() = 0;
|
|
|
|
/**
|
|
* Common interface for returning the inversion state of a speed controller.
|
|
* @return isInverted The state of inversion, true is inverted.
|
|
*/
|
|
virtual bool GetInverted() const = 0;
|
|
};
|