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/SpeedController.h b/wpilibc/athena/include/SpeedController.h
new file mode 100644
index 0000000..3458e7f
--- /dev/null
+++ b/wpilibc/athena/include/SpeedController.h
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "PIDOutput.h"
+
+namespace frc {
+
+/**
+ * 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.
+ */
+ virtual void Set(double speed) = 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 double 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;
+
+ /**
+ * Common interface to stop the motor until Set is called again.
+ */
+ virtual void StopMotor() = 0;
+};
+
+} // namespace frc