| 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 SPEED_CONTROLLER_H
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| 8 | #define SPEED_CONTROLLER_H
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| 9 |
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| 10 | #include <vxWorks.h>
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| 11 | #include "PIDOutput.h"
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| 12 |
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| 13 | /**
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| 14 | * Interface for speed controlling devices.
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| 15 | */
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| 16 | class SpeedController : public PIDOutput
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| 17 | {
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| 18 | public:
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| 19 | virtual ~SpeedController() {};
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| 20 | /**
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| 21 | * Common interface for setting the speed of a speed controller.
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| 22 | *
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| 23 | * @param speed The speed to set. Value should be between -1.0 and 1.0.
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| 24 | * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
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| 25 | */
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| 26 | virtual void Set(float speed, UINT8 syncGroup=0) = 0;
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| 27 | /**
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| 28 | * Common interface for getting the current set speed of a speed controller.
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| 29 | *
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| 30 | * @return The current set speed. Value is between -1.0 and 1.0.
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| 31 | */
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| 32 | virtual float Get() = 0;
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| 33 | /**
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| 34 | * Common interface for disabling a motor.
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| 35 | */
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| 36 | virtual void Disable() = 0;
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| 37 | };
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| 38 |
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| 39 | #endif
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| 40 |
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