WPILibC++  2020.3.2
SpeedControllerGroup.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2016-2019 FIRST. 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 <functional>
11 #include <vector>
12 
13 #include "frc/SpeedController.h"
14 #include "frc/smartdashboard/Sendable.h"
15 #include "frc/smartdashboard/SendableHelper.h"
16 
17 namespace frc {
18 
20  public SpeedController,
21  public SendableHelper<SpeedControllerGroup> {
22  public:
23  template <class... SpeedControllers>
24  explicit SpeedControllerGroup(SpeedController& speedController,
25  SpeedControllers&... speedControllers);
26  ~SpeedControllerGroup() override = default;
27 
29  SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
30 
31  void Set(double speed) override;
32  double Get() const override;
33  void SetInverted(bool isInverted) override;
34  bool GetInverted() const override;
35  void Disable() override;
36  void StopMotor() override;
37  void PIDWrite(double output) override;
38 
39  void InitSendable(SendableBuilder& builder) override;
40 
41  private:
42  bool m_isInverted = false;
43  std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
44 };
45 
46 } // namespace frc
47 
48 #include "frc/SpeedControllerGroup.inc"
frc::SpeedControllerGroup::GetInverted
bool GetInverted() const override
Common interface for returning the inversion state of a speed controller.
frc::SpeedControllerGroup::SetInverted
void SetInverted(bool isInverted) override
Common interface for inverting direction of a speed controller.
frc::SpeedControllerGroup::Get
double Get() const override
Common interface for getting the current set speed of a speed controller.
frc::SpeedControllerGroup::Set
void Set(double speed) override
Common interface for setting the speed of a speed controller.
frc::SpeedControllerGroup
Definition: SpeedControllerGroup.h:19
frc::SpeedControllerGroup::StopMotor
void StopMotor() override
Common interface to stop the motor until Set is called again.
frc::SpeedControllerGroup::InitSendable
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
frc::Sendable
Interface for Sendable objects.
Definition: Sendable.h:17
frc
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
frc::SpeedController
Interface for speed controlling devices.
Definition: SpeedController.h:19
frc::SpeedControllerGroup::Disable
void Disable() override
Common interface for disabling a motor.
frc::SendableHelper
A helper class for use with objects that add themselves to SendableRegistry.
Definition: SendableHelper.h:28
frc::SendableBuilder
Definition: SendableBuilder.h:23