mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
43 lines
1.4 KiB
C++
43 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 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 <functional>
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#include <vector>
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#include "SmartDashboard/SendableBase.h"
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#include "SpeedController.h"
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namespace frc {
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class SpeedControllerGroup : public SendableBase, public SpeedController {
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public:
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template <class... SpeedControllers>
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explicit SpeedControllerGroup(SpeedController& speedController,
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SpeedControllers&... speedControllers);
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~SpeedControllerGroup() override = default;
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void Set(double speed) override;
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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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void PIDWrite(double output) override;
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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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std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
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};
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} // namespace frc
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#include "SpeedControllerGroup.inc"
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