001/*----------------------------------------------------------------------------*/
002/* Copyright (c) 2008-2018 FIRST. 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   * Common interface for setting the speed of a speed controller.
016   *
017   * @param speed The speed to set. Value should be between -1.0 and 1.0.
018   */
019  void set(double speed);
020
021  /**
022   * Common interface for getting the current set speed of a speed controller.
023   *
024   * @return The current set speed. Value is between -1.0 and 1.0.
025   */
026  double get();
027
028  /**
029   * Common interface for inverting direction of a speed controller.
030   *
031   * @param isInverted The state of inversion true is inverted.
032   */
033  void setInverted(boolean isInverted);
034
035  /**
036   * Common interface for returning if a speed controller is in the inverted state or not.
037   *
038   * @return isInverted The state of the inversion true is inverted.
039   */
040  boolean getInverted();
041
042  /**
043   * Disable the speed controller.
044   */
045  void disable();
046
047  /**
048   * Stops motor movement. Motor can be moved again by calling set without having to re-enable the
049   * motor.
050   */
051  void stopMotor();
052}