Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/PWMSpeedController.cpp b/wpilibc/src/main/native/cpp/PWMSpeedController.cpp
new file mode 100644
index 0000000..ea298de
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/PWMSpeedController.cpp
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/PWMSpeedController.h"
+
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+void PWMSpeedController::Set(double speed) {
+ SetSpeed(m_isInverted ? -speed : speed);
+}
+
+double PWMSpeedController::Get() const { return GetSpeed(); }
+
+void PWMSpeedController::SetInverted(bool isInverted) {
+ m_isInverted = isInverted;
+}
+
+bool PWMSpeedController::GetInverted() const { return m_isInverted; }
+
+void PWMSpeedController::Disable() { SetDisabled(); }
+
+void PWMSpeedController::StopMotor() { PWM::StopMotor(); }
+
+void PWMSpeedController::PIDWrite(double output) { Set(output); }
+
+PWMSpeedController::PWMSpeedController(int channel) : PWM(channel) {}
+
+void PWMSpeedController::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Speed Controller");
+ builder.SetActuator(true);
+ builder.SetSafeState([=]() { SetDisabled(); });
+ builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
+ [=](double value) { SetSpeed(value); });
+}