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Victor.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 #include "PIDOutput.h"
13 
20 class Victor : public SafePWM, public SpeedController {
21  public:
22  explicit Victor(uint32_t channel);
23  virtual ~Victor() = default;
24  virtual void Set(float value, uint8_t syncGroup = 0) override;
25  virtual float Get() const override;
26  virtual void Disable() override;
27  virtual void StopMotor() override;
28 
29  virtual void PIDWrite(float output) override;
30 
31  virtual void SetInverted(bool isInverted) override;
32  virtual bool GetInverted() const override;
33 
34  private:
35  bool m_isInverted = false;
36 };
virtual void PIDWrite(float output) override
Write out the PID value as seen in the PIDOutput base object.
Definition: Victor.cpp:84
virtual void Set(float value, uint8_t syncGroup=0) override
Set the PWM value.
Definition: Victor.cpp:50
A safe version of the PWM class.
Definition: SafePWM.h:25
virtual void StopMotor() override
Common interface to stop the motor until Set is called again.
Definition: Victor.cpp:89
virtual void SetInverted(bool isInverted) override
Common interface for inverting direction of a speed controller.
Definition: Victor.cpp:69
Vex Robotics Victor 888 Speed Controller.
Definition: Victor.h:20
Interface for speed controlling devices.
Definition: SpeedController.h:16
virtual void Disable() override
Common interface for disabling a motor.
Definition: Victor.cpp:64
virtual bool GetInverted() const override
Common interface for the inverting direction of a speed controller.
Definition: Victor.cpp:77
Victor(uint32_t channel)
Constructor for a Victor.
Definition: Victor.cpp:17
virtual float Get() const override
Get the recently set value of the PWM.
Definition: Victor.cpp:59