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https://github.com/wpilibsuite/allwpilib
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35 lines
1.1 KiB
C++
35 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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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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#include "PIDOutput.h"
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/**
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* Vex Robotics Victor 888 Speed Controller
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*
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* The Vex Robotics Victor 884 Speed Controller can also be used with this
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* class but may need to be calibrated per the Victor 884 user manual.
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*/
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class Victor : public SafePWM, public SpeedController
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{
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public:
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explicit Victor(uint32_t channel);
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virtual ~Victor();
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virtual void Set(float value, uint8_t syncGroup = 0);
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virtual float Get() const;
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virtual void Disable();
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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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private:
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void InitVictor();
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bool m_isInverted;
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};
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