mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#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.
|
|
*/
|
|
virtual void Set(float speed) = 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;
|
|
|
|
/**
|
|
* Common interface to stop the motor until Set is called again.
|
|
*/
|
|
virtual void StopMotor() = 0;
|
|
};
|