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9e99df1cf7
CANJaguar is the only motor controller using sync groups, so that feature doesn't belong in an interface used by all motor controllers. If teams want to use sync groups, they should cast to the appropriate motor controller type themselves.
35 lines
1.1 KiB
C++
35 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "SafePWM.h"
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#include "SpeedController.h"
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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 SafePWM, public SpeedController {
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public:
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virtual ~PWMSpeedController() = default;
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virtual void Set(float value) override;
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virtual float Get() const override;
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virtual void Disable() override;
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virtual void StopMotor() override;
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virtual void PIDWrite(float output) override;
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virtual void SetInverted(bool isInverted) override;
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virtual bool GetInverted() const override;
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protected:
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explicit PWMSpeedController(uint32_t channel);
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private:
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bool m_isInverted = false;
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};
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