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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
72 lines
2.2 KiB
C++
72 lines
2.2 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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#include "PWMSpeedController.h"
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using namespace frc;
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/**
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* Constructor for a PWM Speed Controller connected via PWM.
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*
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* @param channel The PWM channel that the controller is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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PWMSpeedController::PWMSpeedController(int channel) : SafePWM(channel) {}
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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*/
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void PWMSpeedController::Set(float speed) {
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SetSpeed(m_isInverted ? -speed : speed);
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}
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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float PWMSpeedController::Get() const { return GetSpeed(); }
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/**
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* Common interface for disabling a motor.
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*/
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void PWMSpeedController::Disable() { SetDisabled(); }
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/**
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* Common interface for inverting direction of a speed controller.
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*
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* @param isInverted The state of inversion, true is inverted.
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*/
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void PWMSpeedController::SetInverted(bool isInverted) {
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m_isInverted = isInverted;
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}
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/**
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* Common interface for the inverting direction of a speed controller.
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*
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* @return isInverted The state of inversion, true is inverted.
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*
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*/
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bool PWMSpeedController::GetInverted() const { return m_isInverted; }
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void PWMSpeedController::PIDWrite(float output) { Set(output); }
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/**
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* Common interface to stop the motor until Set is called again.
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*/
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void PWMSpeedController::StopMotor() { this->SafePWM::StopMotor(); }
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