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FRC2016-old/Robot2016/wpilib/cpp/current/include/Spark.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

33 lines
1.1 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 "SafePWM.h"
#include "SpeedController.h"
#include "PIDOutput.h"
/**
* REV Robotics Speed Controller
*/
class Spark : public SafePWM, public SpeedController {
public:
explicit Spark(uint32_t channel);
virtual ~Spark() = 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;
};