This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/SpeedController.h b/azaleasource/WPILibCProgramming/trunk/WPILib/SpeedController.h
new file mode 100644
index 0000000..3e2e9dd
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/SpeedController.h
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef SPEED_CONTROLLER_H
+#define SPEED_CONTROLLER_H
+
+#include <vxWorks.h>
+#include "PIDOutput.h"
+
+/**
+ * Interface for speed controlling devices.
+ */
+class SpeedController : public PIDOutput
+{
+public:
+ virtual ~SpeedController() {};
+ /**
+ * 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 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() = 0;
+ /**
+ * Common interface for disabling a motor.
+ */
+ virtual void Disable() = 0;
+};
+
+#endif
+