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https://github.com/wpilibsuite/allwpilib
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5175829bab
Also change type to "PWM". Move old PWM Sendable behavior for both value and type to PWMSpeedController.
38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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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#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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void Set(double value) override;
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double Get() const override;
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void SetInverted(bool isInverted) override;
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bool GetInverted() 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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protected:
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explicit PWMSpeedController(int channel);
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void InitSendable(SendableBuilder& builder) override;
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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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