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PWMSpeedController.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include "SafePWM.h"
11 #include "SpeedController.h"
12 
13 namespace frc {
14 
18 class PWMSpeedController : public SafePWM, public SpeedController {
19  public:
20  virtual ~PWMSpeedController() = default;
21  void Set(double value) override;
22  double Get() const override;
23  void Disable() override;
24  void StopMotor() override;
25 
26  void PIDWrite(double output) override;
27 
28  void SetInverted(bool isInverted) override;
29  bool GetInverted() const override;
30 
31  protected:
32  explicit PWMSpeedController(int channel);
33 
34  private:
35  bool m_isInverted = false;
36 };
37 
38 } // namespace frc
Interface for speed controlling devices.
Definition: SpeedController.h:17
void Disable() override
Common interface for disabling a motor.
Definition: PWMSpeedController.cpp:42
double Get() const override
Get the recently set value of the PWM.
Definition: PWMSpeedController.cpp:37
bool GetInverted() const override
Common interface for the inverting direction of a speed controller.
Definition: PWMSpeedController.cpp:59
void Set(double value) override
Set the PWM value.
Definition: PWMSpeedController.cpp:28
PWMSpeedController(int channel)
Constructor for a PWM Speed Controller connected via PWM.
Definition: PWMSpeedController.cpp:18
A safe version of the PWM class.
Definition: SafePWM.h:26
void StopMotor() override
Common interface to stop the motor until Set is called again.
Definition: PWMSpeedController.cpp:71
void SetInverted(bool isInverted) override
Common interface for inverting direction of a speed controller.
Definition: PWMSpeedController.cpp:49
void PIDWrite(double output) override
Write out the PID value as seen in the PIDOutput base object.
Definition: PWMSpeedController.cpp:66
Common base class for all PWM Speed Controllers.
Definition: PWMSpeedController.h:18