Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/PWMSpeedController.h b/wpilibc/athena/include/PWMSpeedController.h
new file mode 100644
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+++ b/wpilibc/athena/include/PWMSpeedController.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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"
+
+namespace frc {
+
+/**
+ * Common base class for all PWM Speed Controllers
+ */
+class PWMSpeedController : public SafePWM, public SpeedController {
+ public:
+ virtual ~PWMSpeedController() = default;
+ void Set(double value) override;
+ double Get() const override;
+ void Disable() override;
+ void StopMotor() override;
+
+ void PIDWrite(double output) override;
+
+ void SetInverted(bool isInverted) override;
+ bool GetInverted() const override;
+
+ protected:
+ explicit PWMSpeedController(int channel);
+
+ private:
+ bool m_isInverted = false;
+};
+
+} // namespace frc