| Brian Silverman | 1a67511 | 2016-02-20 20:42:49 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008-2016. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include "SafePWM.h" |
| 11 | #include "SpeedController.h" |
| 12 | #include "PIDOutput.h" |
| 13 | |
| 14 | /** |
| 15 | * REV Robotics Speed Controller |
| 16 | */ |
| 17 | class Spark : public SafePWM, public SpeedController { |
| 18 | public: |
| 19 | explicit Spark(uint32_t channel); |
| 20 | virtual ~Spark() = default; |
| 21 | virtual void Set(float value, uint8_t syncGroup = 0) override; |
| 22 | virtual float Get() const override; |
| 23 | virtual void Disable() override; |
| 24 | virtual void StopMotor() override; |
| 25 | |
| 26 | virtual void PIDWrite(float output) override; |
| 27 | |
| 28 | virtual void SetInverted(bool isInverted) override; |
| 29 | virtual bool GetInverted() const override; |
| 30 | |
| 31 | private: |
| 32 | bool m_isInverted = false; |
| 33 | }; |