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SpeedControllerGroup.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2016-2018 FIRST. 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 <functional>
11 #include <vector>
12 
13 #include "frc/SpeedController.h"
14 #include "frc/smartdashboard/SendableBase.h"
15 
16 namespace frc {
17 
19  public:
20  template <class... SpeedControllers>
21  explicit SpeedControllerGroup(SpeedController& speedController,
22  SpeedControllers&... speedControllers);
23  ~SpeedControllerGroup() override = default;
24 
25  SpeedControllerGroup(SpeedControllerGroup&&) = default;
26  SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
27 
28  void Set(double speed) override;
29  double Get() const override;
30  void SetInverted(bool isInverted) override;
31  bool GetInverted() const override;
32  void Disable() override;
33  void StopMotor() override;
34  void PIDWrite(double output) override;
35 
36  void InitSendable(SendableBuilder& builder) override;
37 
38  private:
39  bool m_isInverted = false;
40  std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
41 };
42 
43 } // namespace frc
44 
45 #include "frc/SpeedControllerGroup.inc"
double Get() const override
Common interface for getting the current set speed of a speed controller.
Interface for speed controlling devices.
Definition: SpeedController.h:17
WPILib FRC namespace.
Definition: SPIAccelerometerSim.h:18
void Disable() override
Common interface for disabling a motor.
Definition: SpeedControllerGroup.h:18
void SetInverted(bool isInverted) override
Common interface for inverting direction of a speed controller.
void Set(double speed) override
Common interface for setting the speed of a speed controller.
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
Definition: SendableBase.h:19
Definition: SendableBuilder.h:23
void StopMotor() override
Common interface to stop the motor until Set is called again.
bool GetInverted() const override
Common interface for returning the inversion state of a speed controller.