Talon.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef Talon_H
#define Talon_H

#include "SafePWM.h"
#include "SpeedController.h"
#include "PIDOutput.h"

class Talon : public SafePWM, public SpeedController
{
public:
        explicit Talon(uint32_t channel);
        Talon(uint8_t moduleNumber, uint32_t channel);
        virtual ~Talon();
        virtual void Set(float value, uint8_t syncGroup=0);
        virtual float Get();
        virtual void Disable();

        virtual void PIDWrite(float output);

private:
        void InitTalon();
};

#endif