| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. |
| 3 | */ |
| 4 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 5 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | #pragma once |
| 8 | |
| 9 | #include "SafePWM.h" |
| 10 | #include "SpeedController.h" |
| 11 | #include "PIDOutput.h" |
| 12 | |
| 13 | /** |
| 14 | * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller |
| 15 | */ |
| 16 | class Talon : public SafePWM, public SpeedController { |
| 17 | public: |
| 18 | explicit Talon(uint32_t channel); |
| 19 | virtual ~Talon() = default; |
| 20 | virtual void Set(float value, uint8_t syncGroup = 0) override; |
| 21 | virtual float Get() const override; |
| 22 | virtual void Disable() override; |
| 23 | |
| 24 | virtual void PIDWrite(float output) override; |
| 25 | virtual void SetInverted(bool isInverted) override; |
| 26 | virtual bool GetInverted() const override; |
| 27 | |
| 28 | private: |
| 29 | bool m_isInverted = false; |
| 30 | }; |