// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY

package org.wpilib.hardware.motor;

import org.wpilib.hardware.hal.HAL;

/**
 * Cross the Road Electronics (CTRE) Talon Motor Controller.
 *
 * <p>Note that the Talon uses the following bounds for PWM values. These values should work
 * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
 * around the deadband or inability to saturate the controller in either direction, calibration is
 * recommended. The calibration procedure can be found in the Talon User Manual available from
 * Cross the Road Electronics (CTRE).
 *
 * <ul>
 *   <li>2.037ms = full "forward"
 *   <li>1.539ms = the "high end" of the deadband range
 *   <li>1.513ms = center of the deadband range (off)
 *   <li>1.487ms = the "low end" of the deadband range
 *   <li>0.989ms = full "reverse"
 * </ul>
 */
public class Talon extends PWMMotorController {
  /**
   * Constructor.
   *
   * @param channel The SmartIO channel that the Talon is attached to.
   */
  @SuppressWarnings("this-escape")
  public Talon(final int channel) {
    super("Talon", channel);

    setBoundsMicroseconds(2037, 1539, 1513, 1487, 989);
    m_pwm.setOutputPeriod(5);
    setThrottle(0.0);

    HAL.reportUsage("IO", getChannel(), "Talon");
  }
}
