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FRC2016-old/DriveBase/wpilib/cpp/current/include/TalonSRX.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SafePWM.h"
#include "SpeedController.h"
#include "PIDOutput.h"
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
* @see CANTalon for CAN control
*/
class TalonSRX : public SafePWM, public SpeedController {
public:
explicit TalonSRX(uint32_t channel);
virtual ~TalonSRX() = default;
virtual void Set(float value, uint8_t syncGroup = 0) override;
virtual float Get() const override;
virtual void Disable() override;
virtual void PIDWrite(float output) override;
virtual void SetInverted(bool isInverted) override;
virtual bool GetInverted() const override;
private:
bool m_isInverted = false;
};