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Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
74 lines
2.0 KiB
C++
74 lines
2.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <units/voltage.h>
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#include "frc/PIDOutput.h"
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namespace frc {
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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(double speed) = 0;
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/**
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* Sets the voltage output of the SpeedController. Compensates for
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* the current bus voltage to ensure that the desired voltage is output even
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* if the battery voltage is below 12V - highly useful when the voltage
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* outputs are "meaningful" (e.g. they come from a feedforward calculation).
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*
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* <p>NOTE: This function *must* be called regularly in order for voltage
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* compensation to work properly - unlike the ordinary set function, it is not
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* "set it and forget it."
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*
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* @param output The voltage to output.
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*/
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virtual void SetVoltage(units::volt_t output);
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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 double Get() const = 0;
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/**
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* Common interface for inverting direction of a speed controller.
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*
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* @param isInverted The state of inversion, true is inverted.
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*/
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virtual void SetInverted(bool isInverted) = 0;
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/**
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* Common interface for returning the inversion state of a speed controller.
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*
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* @return isInverted The state of inversion, true is inverted.
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*/
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virtual bool GetInverted() 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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* Common interface to stop the motor until Set is called again.
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*/
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virtual void StopMotor() = 0;
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};
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} // namespace frc
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