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5598445a67
See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148 Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682
29 lines
829 B
C++
29 lines
829 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 "SafePWM.h"
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#include "SpeedController.h"
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#include "PIDOutput.h"
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/**
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* Luminary Micro Jaguar Speed Control
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*/
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class Jaguar : public SafePWM, public SpeedController
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{
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public:
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explicit Jaguar(uint32_t channel);
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virtual ~Jaguar();
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virtual void Set(float value, uint8_t syncGroup = 0);
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virtual float Get() const;
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virtual void Disable();
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virtual void PIDWrite(float output) override;
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private:
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void InitJaguar();
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};
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