CANWrapper.cpp

#include "CANWrapper.h"
#include "CANJaguar.h"

CANWrapper::CANWrapper(UINT8 deviceNumber, CANJaguar::ControlMode controlMode)
{
	m_can = new CANJaguar(deviceNumber, controlMode);
}

CANWrapper::~CANWrapper()
{
	delete m_can;
}

float CANWrapper::Get()
{
	return m_can->Get();
}

void CANWrapper::Set(float value, UINT8 syncGroup)
{
	m_can->Set(value, syncGroup);
}

void CANWrapper::Disable()
{
	m_can->Disable();
}

bool CANWrapper::IsAlive()
{
	return m_can->IsAlive();
}

void CANWrapper::StopMotor()
{
	m_can->StopMotor();
}

bool CANWrapper::IsSafetyEnabled()
{
	return m_can->IsSafetyEnabled();
}

void CANWrapper::SetSafetyEnabled(bool enabled)
{
	m_can->SetSafetyEnabled(enabled);
}

void CANWrapper::PIDWrite(float output)
{
	m_can->PIDWrite(output);
}

void CANWrapper::SetExpiration(float timeout)
{
	m_can->SetExpiration(timeout);
}

float CANWrapper::GetExpiration()
{
	return m_can->GetExpiration();
}