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FRC2016-old/DriveBase/wpilib/cpp/current/include/SpeedController.h
2016-01-28 11:33:19 -05:00

52 lines
1.7 KiB
C++

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