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56 lines
1.6 KiB
C++
56 lines
1.6 KiB
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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#pragma once
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#include <functional>
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#include <vector>
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#include <wpi/deprecated.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/motorcontrol/MotorController.h"
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namespace frc {
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/**
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* Allows multiple SpeedController objects to be linked together.
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*
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* @deprecated Use MotorControllerGroup.
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*/
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class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
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: public wpi::Sendable,
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public MotorController,
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public wpi::SendableHelper<SpeedControllerGroup> {
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public:
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template <class... SpeedControllers>
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explicit SpeedControllerGroup(SpeedController& speedController,
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SpeedControllers&... speedControllers);
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explicit SpeedControllerGroup(
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std::vector<std::reference_wrapper<SpeedController>>&& speedControllers);
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SpeedControllerGroup(SpeedControllerGroup&&) = default;
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SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
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void Set(double speed) override;
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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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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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bool m_isInverted = false;
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std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
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void Initialize();
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};
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} // namespace frc
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#include "frc/SpeedControllerGroup.inc"
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