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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <units/voltage.h>
namespace frc {
/**
* Interface for motor controlling devices.
*/
class MotorController {
public:
virtual ~MotorController() = default;
/**
* Common interface for setting the speed of a motor controller.
*
* @param speed The speed to set. Value should be between -1.0 and 1.0.
*/
virtual void Set(double speed) = 0;
/**
* Sets the voltage output of the MotorController. Compensates for
* the current bus voltage to ensure that the desired voltage is output even
* if the battery voltage is below 12V - highly useful when the voltage
* outputs are "meaningful" (e.g. they come from a feedforward calculation).
*
* <p>NOTE: This function *must* be called regularly in order for voltage
* compensation to work properly - unlike the ordinary set function, it is not
* "set it and forget it."
*
* @param output The voltage to output.
*/
virtual void SetVoltage(units::volt_t output);
/**
* Common interface for getting the current set speed of a motor controller.
*
* @return The current set speed. Value is between -1.0 and 1.0.
*/
virtual double Get() const = 0;
/**
* Common interface for inverting direction of a motor controller.
*
* @param isInverted The state of inversion, true is inverted.
*/
virtual void SetInverted(bool isInverted) = 0;
/**
* Common interface for returning the inversion state of a motor controller.
*
* @return isInverted The state of inversion, true is inverted.
*/
virtual bool GetInverted() const = 0;
/**
* Common interface for disabling a motor.
*/
virtual void Disable() = 0;
/**
* Common interface to stop the motor until Set is called again.
*/
virtual void StopMotor() = 0;
};
} // namespace frc