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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
32 lines
763 B
C++
32 lines
763 B
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "motorcontrol/MockPWMMotorController.hpp"
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using namespace wpi;
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void MockPWMMotorController::SetDutyCycle(double dutyCycle) {
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m_dutyCycle = m_isInverted ? -dutyCycle : dutyCycle;
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}
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double MockPWMMotorController::GetDutyCycle() const {
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return m_dutyCycle;
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}
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void MockPWMMotorController::SetInverted(bool isInverted) {
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m_isInverted = isInverted;
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}
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bool MockPWMMotorController::GetInverted() const {
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return m_isInverted;
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}
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void MockPWMMotorController::Disable() {
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m_dutyCycle = 0;
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}
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void MockPWMMotorController::StopMotor() {
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Disable();
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}
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