mirror of
https://github.com/wpilibsuite/allwpilib
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22c0e2813a
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
42 lines
1.4 KiB
C++
42 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2020 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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#include "frc/PWMSpeedController.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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void PWMSpeedController::Set(double speed) {
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SetSpeed(m_isInverted ? -speed : speed);
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}
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double PWMSpeedController::Get() const { return GetSpeed(); }
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void PWMSpeedController::SetInverted(bool isInverted) {
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m_isInverted = isInverted;
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}
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bool PWMSpeedController::GetInverted() const { return m_isInverted; }
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void PWMSpeedController::Disable() { SetDisabled(); }
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void PWMSpeedController::StopMotor() { PWM::StopMotor(); }
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void PWMSpeedController::PIDWrite(double output) { Set(output); }
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PWMSpeedController::PWMSpeedController(int channel) : PWM(channel) {}
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void PWMSpeedController::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Speed Controller");
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builder.SetActuator(true);
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builder.SetSafeState([=]() { SetDisabled(); });
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builder.AddDoubleProperty(
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"Value", [=]() { return GetSpeed(); },
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[=](double value) { SetSpeed(value); });
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}
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