text: /*----------------------------------------------------------------------------*/
  /* 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"
  
  /**
   * CTRE Talon Speed Controller
   */
  class Talon : public SafePWM, public SpeedController
  {
  public:
  	explicit Talon(UINT32 channel);
  	Talon(UINT8 moduleNumber, UINT32 channel);
  	virtual ~Talon();
  	virtual void Set(float value, UINT8 syncGroup=0);
  	virtual float Get();
  	virtual void Disable();
  
  	virtual void PIDWrite(float output);
  
  private:
  	void InitTalon();
  };
  
  #endif
  
  