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30 lines
848 B
C++
30 lines
848 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "simulation/SimContinuousOutput.h"
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#include "SpeedController.h"
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#include "PIDOutput.h"
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/**
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* CTRE Talon Speed Controller
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*/
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class Talon : public SpeedController
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{
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public:
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explicit Talon(uint32_t channel);
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virtual ~Talon();
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virtual void Set(float value, uint8_t syncGroup = 0);
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virtual float Get();
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virtual void Disable();
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virtual void PIDWrite(float output);
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private:
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void InitTalon(int channel);
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SimContinuousOutput* impl;
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};
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