allwpilib/wpilibc/src/main/native/cpp/PWMSpeedController.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "frc/PWMSpeedController.h"

#include "frc/smartdashboard/SendableBuilder.h"

using namespace frc;

void PWMSpeedController::Set(double speed) {
  SetSpeed(m_isInverted ? -speed : speed);
}

double PWMSpeedController::Get() const {
  return GetSpeed() * (m_isInverted ? -1.0 : 1.0);
}

void PWMSpeedController::SetInverted(bool isInverted) {
  m_isInverted = isInverted;
}

bool PWMSpeedController::GetInverted() const {
  return m_isInverted;
}

void PWMSpeedController::Disable() {
  SetDisabled();
}

void PWMSpeedController::StopMotor() {
  PWM::StopMotor();
}

void PWMSpeedController::PIDWrite(double output) {
  Set(output);
}

PWMSpeedController::PWMSpeedController(int channel) : PWM(channel) {}

void PWMSpeedController::InitSendable(SendableBuilder& builder) {
  builder.SetSmartDashboardType("Speed Controller");
  builder.SetActuator(true);
  builder.SetSafeState([=]() { SetDisabled(); });
  builder.AddDoubleProperty(
      "Value", [=]() { return GetSpeed(); },
      [=](double value) { SetSpeed(value); });
}