| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008-2017. 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 the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include "PIDOutput.h" |
| 11 | |
| 12 | namespace frc { |
| 13 | |
| 14 | /** |
| 15 | * Interface for speed controlling devices. |
| 16 | */ |
| 17 | class SpeedController : public PIDOutput { |
| 18 | public: |
| 19 | virtual ~SpeedController() = default; |
| 20 | /** |
| 21 | * Common interface for setting the speed of a speed controller. |
| 22 | * |
| 23 | * @param speed The speed to set. Value should be between -1.0 and 1.0. |
| 24 | */ |
| 25 | virtual void Set(double speed) = 0; |
| 26 | |
| 27 | /** |
| 28 | * Common interface for getting the current set speed of a speed controller. |
| 29 | * |
| 30 | * @return The current set speed. Value is between -1.0 and 1.0. |
| 31 | */ |
| 32 | virtual double Get() const = 0; |
| 33 | |
| 34 | /** |
| 35 | * Common interface for inverting direction of a speed controller. |
| 36 | * @param isInverted The state of inversion, true is inverted. |
| 37 | */ |
| 38 | virtual void SetInverted(bool isInverted) = 0; |
| 39 | /** |
| 40 | |
| 41 | * Common interface for disabling a motor. |
| 42 | */ |
| 43 | virtual void Disable() = 0; |
| 44 | |
| 45 | /** |
| 46 | * Common interface for returning the inversion state of a speed controller. |
| 47 | * @return isInverted The state of inversion, true is inverted. |
| 48 | */ |
| 49 | virtual bool GetInverted() const = 0; |
| 50 | |
| 51 | /** |
| 52 | * Common interface to stop the motor until Set is called again. |
| 53 | */ |
| 54 | virtual void StopMotor() = 0; |
| 55 | }; |
| 56 | |
| 57 | } // namespace frc |