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9e99df1cf7
CANJaguar is the only motor controller using sync groups, so that feature doesn't belong in an interface used by all motor controllers. If teams want to use sync groups, they should cast to the appropriate motor controller type themselves.
35 lines
1.1 KiB
C++
35 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 "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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*/
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virtual void Set(float speed) = 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 disabling a motor.
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*/
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virtual void Disable() = 0;
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};
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