mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
576d427f03
This allows the list to be constructed dynamically. Co-authored-by: Thad House <thadhouse1@gmail.com>
52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2020 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <functional>
|
|
#include <vector>
|
|
|
|
#include "frc/SpeedController.h"
|
|
#include "frc/smartdashboard/Sendable.h"
|
|
#include "frc/smartdashboard/SendableHelper.h"
|
|
|
|
namespace frc {
|
|
|
|
class SpeedControllerGroup : public Sendable,
|
|
public SpeedController,
|
|
public SendableHelper<SpeedControllerGroup> {
|
|
public:
|
|
template <class... SpeedControllers>
|
|
explicit SpeedControllerGroup(SpeedController& speedController,
|
|
SpeedControllers&... speedControllers);
|
|
explicit SpeedControllerGroup(
|
|
std::vector<std::reference_wrapper<SpeedController>>&& speedControllers);
|
|
|
|
SpeedControllerGroup(SpeedControllerGroup&&) = default;
|
|
SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
|
|
|
|
void Set(double speed) override;
|
|
double Get() const override;
|
|
void SetInverted(bool isInverted) override;
|
|
bool GetInverted() const override;
|
|
void Disable() override;
|
|
void StopMotor() override;
|
|
void PIDWrite(double output) override;
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
bool m_isInverted = false;
|
|
std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
|
|
|
|
void Initialize();
|
|
};
|
|
|
|
} // namespace frc
|
|
|
|
#include "frc/SpeedControllerGroup.inc"
|