| brians | ab45cad | 2013-03-03 05:31:33 +0000 | [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 | |
| 7 | #ifndef Talon_H |
| 8 | #define Talon_H |
| 9 | |
| 10 | #include "SafePWM.h" |
| 11 | #include "SpeedController.h" |
| 12 | #include "PIDOutput.h" |
| 13 | |
| 14 | /** |
| 15 | * CTRE Talon Speed Controller |
| 16 | */ |
| 17 | class Talon : public SafePWM, public SpeedController |
| 18 | { |
| 19 | public: |
| 20 | explicit Talon(UINT32 channel); |
| 21 | Talon(UINT8 moduleNumber, UINT32 channel); |
| 22 | virtual ~Talon(); |
| 23 | virtual void Set(float value, UINT8 syncGroup=0); |
| 24 | virtual float Get(); |
| 25 | virtual void Disable(); |
| 26 | |
| 27 | virtual void PIDWrite(float output); |
| 28 | |
| 29 | private: |
| 30 | void InitTalon(); |
| 31 | }; |
| 32 | |
| 33 | #endif |
| 34 | |