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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.
27 lines
896 B
C++
27 lines
896 B
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 "PIDOutput.h"
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#include "SafePWM.h"
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#include "SpeedController.h"
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/**
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* Luminary Micro Jaguar Speed Control.
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*/
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class Jaguar : public SafePWM, public SpeedController {
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public:
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explicit Jaguar(uint32_t channel);
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virtual ~Jaguar() = default;
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virtual void Set(float value);
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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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};
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