| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame^] | 1 | #ifndef AOS_CRIO_TALON_H_ |
| 2 | #define AOS_CRIO_TALON_H_ |
| 3 | |
| 4 | #include "WPILib/SafePWM.h" |
| 5 | #include "WPILib/SpeedController.h" |
| 6 | #include "WPILib/PIDOutput.h" |
| 7 | |
| 8 | // Used for controlling a Talon speed controller. Non-standard API and |
| 9 | // namespace so that the likely WPILib version will be drop-in replaceable. |
| 10 | class Talon : public SafePWM, public SpeedController, public PIDOutput { |
| 11 | public: |
| 12 | explicit Talon(UINT32 channel); |
| 13 | |
| 14 | virtual void Set(float value, UINT8 syncGroup=0); |
| 15 | virtual float Get(); |
| 16 | virtual void Disable(); |
| 17 | |
| 18 | virtual void PIDWrite(float output); |
| 19 | }; |
| 20 | |
| 21 | #endif // AOS_CRIO_TALON_H_ |