52 lines
1.7 KiB
C++
52 lines
1.7 KiB
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 "HAL/HAL.hpp"
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#include "PIDOutput.h"
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/**
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* Interface for speed controlling devices.
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*/
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class SpeedController : public PIDOutput {
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public:
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virtual ~SpeedController() = default;
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/**
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* Common interface for setting the speed of a speed controller.
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*
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* @param speed The speed to set. Value should be between -1.0 and 1.0.
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* @param syncGroup The update group to add this Set() to, pending
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* UpdateSyncGroup(). If 0, update immediately.
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*/
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virtual void Set(float speed, uint8_t syncGroup = 0) = 0;
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/**
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* Common interface for getting the current set speed of a speed controller.
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*
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* @return The current set speed. Value is between -1.0 and 1.0.
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*/
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virtual float Get() const = 0;
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/**
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* Common interface for inverting direction of a speed controller.
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* @param isInverted The state of inversion, true is inverted.
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*/
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virtual void SetInverted(bool isInverted) = 0;
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/**
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* Common interface for disabling a motor.
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*/
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virtual void Disable() = 0;
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/**
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* Common interface for returning the inversion state of a speed controller.
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* @return isInverted The state of inversion, true is inverted.
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*/
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virtual bool GetInverted() const = 0;
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};
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