# validated: 2016-11-15 AA 9e99df1 shared/java/edu/wpi/first/wpilibj/SpeedController.java
#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
#----------------------------------------------------------------------------
from .pidoutput import PIDOutput
__all__ = ["SpeedController"]
[docs]class SpeedController(PIDOutput):
"""Interface for speed controlling devices."""
[docs] def get(self):
"""Common interface for getting the current set speed of a speed
controller.
:returns: The current set speed. Value is between -1.0 and 1.0.
"""
raise NotImplementedError
[docs] def set(self, speed):
"""Common interface for setting the speed of a speed controller.
:param speed: The speed to set. Value should be between -1.0 and 1.0.
"""
raise NotImplementedError
[docs] def setInverted(self, isInverted):
"""Common interface for inverting direction of a speed controller.
:param isInverted: The state of inversion
"""
raise NotImplementedError
[docs] def getInverted(self):
"""Common interface for determining if a speed controller is in the
inverted state or not.
:returns: True if in inverted state
"""
raise NotImplementedError
[docs] def disable(self):
"""Disable the speed controller."""
raise NotImplementedError
[docs] def stopMotor(self):
"""Stops motor movement. Motor can be moved again by calling set without having
to re-enable the motor.
"""
raise NotImplementedError