| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */ |
| 5 | /*----------------------------------------------------------------------------*/ |
| 6 | #pragma once |
| 7 | |
| 8 | #include "SafePWM.h" |
| 9 | #include "SpeedController.h" |
| 10 | #include "PIDOutput.h" |
| 11 | |
| 12 | /** |
| 13 | * CTRE Talon Speed Controller |
| 14 | */ |
| 15 | class Talon : public SafePWM, public SpeedController |
| 16 | { |
| 17 | public: |
| 18 | explicit Talon(uint32_t channel); |
| 19 | virtual ~Talon() = default; |
| 20 | virtual void Set(float value, uint8_t syncGroup = 0); |
| 21 | virtual float Get() const; |
| 22 | virtual void Disable(); |
| 23 | |
| 24 | virtual void PIDWrite(float output) override; |
| 25 | }; |