| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef Talon_H
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| 8 | #define Talon_H
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| 9 |
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| 10 | #include "SafePWM.h"
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| 11 | #include "SpeedController.h"
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| 12 | #include "PIDOutput.h"
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| 13 |
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| 14 | /**
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| 15 | * CTRE Talon Speed Controller
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| 16 | */
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| 17 | class Talon : public SafePWM, public SpeedController
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| 18 | {
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| 19 | public:
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| 20 | explicit Talon(UINT32 channel);
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| 21 | Talon(UINT8 moduleNumber, UINT32 channel);
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| 22 | virtual ~Talon();
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| 23 | virtual void Set(float value, UINT8 syncGroup=0);
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| 24 | virtual float Get();
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| 25 | virtual void Disable();
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| 26 |
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| 27 | virtual void PIDWrite(float output);
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| 28 |
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| 29 | private:
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| 30 | void InitTalon();
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| 31 | };
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| 32 |
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| 33 | #endif
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| 34 |
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