001/*----------------------------------------------------------------------------*/
002/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
003/* Open Source Software - may be modified and shared by FRC teams. The code   */
004/* must be accompanied by the FIRST BSD license file in the root directory of */
005/* the project.                                                               */
006/*----------------------------------------------------------------------------*/
007
008package edu.wpi.first.wpilibj;
009
010/**
011 * Interface for speed controlling devices.
012 */
013public interface SpeedController extends PIDOutput {
014
015    /**
016     * Common interface for getting the current set speed of a speed controller.
017     *
018     * @return The current set speed.  Value is between -1.0 and 1.0.
019     */
020    double get();
021
022    /**
023     * Common interface for setting the speed of a speed controller.
024     *
025     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
026     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
027     */
028    void set(double speed, byte syncGroup);
029
030    /**
031     * Common interface for setting the speed of a speed controller.
032     *
033     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
034     */
035    void set(double speed);
036
037    /**
038     * Disable the speed controller
039     */
040    void disable();
041}