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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
49 lines
1.5 KiB
C++
49 lines
1.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <vector>
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#include "frc/SpeedController.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SpeedControllerGroup : public Sendable,
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public SpeedController,
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public SendableHelper<SpeedControllerGroup> {
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public:
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template <class... SpeedControllers>
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explicit SpeedControllerGroup(SpeedController& speedController,
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SpeedControllers&... speedControllers);
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explicit SpeedControllerGroup(
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std::vector<std::reference_wrapper<SpeedController>>&& speedControllers);
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SpeedControllerGroup(SpeedControllerGroup&&) = default;
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SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
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void Set(double speed) 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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void InitSendable(SendableBuilder& builder) override;
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private:
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bool m_isInverted = false;
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std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
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void Initialize();
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};
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} // namespace frc
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#include "frc/SpeedControllerGroup.inc"
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