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https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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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#pragma once
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#include "frc/PWM.h"
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#include "frc/SpeedController.h"
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namespace frc {
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/**
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* Common base class for all PWM Speed Controllers.
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*/
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class PWMSpeedController : public PWM, public SpeedController {
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public:
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PWMSpeedController(PWMSpeedController&&) = default;
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PWMSpeedController& operator=(PWMSpeedController&&) = default;
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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 scaling
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* 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 Set(double value) override;
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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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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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/**
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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 PIDWrite(double output) override;
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protected:
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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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explicit PWMSpeedController(int channel);
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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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};
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} // namespace frc
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