mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 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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#include "SpeedControllerGroup.h"
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#include "SmartDashboard/SendableBuilder.h"
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using namespace frc;
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void SpeedControllerGroup::Set(double speed) {
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for (auto speedController : m_speedControllers) {
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speedController.get().Set(m_isInverted ? -speed : speed);
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}
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}
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double SpeedControllerGroup::Get() const {
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if (!m_speedControllers.empty()) {
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return m_speedControllers.front().get().Get();
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}
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return 0.0;
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}
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void SpeedControllerGroup::SetInverted(bool isInverted) {
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m_isInverted = isInverted;
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}
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bool SpeedControllerGroup::GetInverted() const { return m_isInverted; }
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void SpeedControllerGroup::Disable() {
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for (auto speedController : m_speedControllers) {
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speedController.get().Disable();
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}
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}
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void SpeedControllerGroup::StopMotor() {
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for (auto speedController : m_speedControllers) {
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speedController.get().StopMotor();
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}
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}
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void SpeedControllerGroup::PIDWrite(double output) {
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for (auto speedController : m_speedControllers) {
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speedController.get().PIDWrite(output);
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}
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}
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void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Speed Controller");
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builder.SetSafeState([=]() { StopMotor(); });
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builder.AddDoubleProperty("Value", [=]() { return Get(); },
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[=](double value) { Set(value); });
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}
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