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https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "SafePWM.h"
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#include "SpeedController.h"
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namespace frc {
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/**
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* Common base class for all PWM Speed Controllers
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*/
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class PWMSpeedController : public SafePWM, public SpeedController {
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public:
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virtual ~PWMSpeedController() = default;
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void Set(double value) override;
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double Get() 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 SetInverted(bool isInverted) override;
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bool GetInverted() const override;
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protected:
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explicit PWMSpeedController(int channel);
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private:
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bool m_isInverted = false;
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};
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} // namespace frc
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