mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
29 lines
1.0 KiB
C++
29 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "MockSpeedController.h"
|
|
|
|
using namespace frc;
|
|
|
|
void MockSpeedController::Set(double speed) {
|
|
m_speed = m_isInverted ? -speed : speed;
|
|
}
|
|
|
|
double MockSpeedController::Get() const { return m_speed; }
|
|
|
|
void MockSpeedController::SetInverted(bool isInverted) {
|
|
m_isInverted = isInverted;
|
|
}
|
|
|
|
bool MockSpeedController::GetInverted() const { return m_isInverted; }
|
|
|
|
void MockSpeedController::Disable() { m_speed = 0; }
|
|
|
|
void MockSpeedController::StopMotor() { Disable(); }
|
|
|
|
void MockSpeedController::PIDWrite(double output) { Set(output); }
|