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9ebd23d61e
Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side. Also update relevant examples.
17 lines
703 B
C++
17 lines
703 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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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#include "frc/SpeedController.h"
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#include <frc/RobotController.h>
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using namespace frc;
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void SpeedController::SetVoltage(units::volt_t output) {
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Set(output / units::volt_t(RobotController::GetInputVoltage()));
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}
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