// 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 ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY

#pragma once

#include "wpi/hardware/motor/PWMMotorController.hpp"

namespace wpi {

/**
 * REV Robotics SPARK Motor Controller with PWM control.
 *
 * Note that the SPARK 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 SPARK User
 * Manual available from REV Robotics.
 *
 * \li 2.003ms = full "forward"
 * \li 1.550ms = the "high end" of the deadband range
 * \li 1.500ms = center of the deadband range (off)
 * \li 1.460ms = the "low end" of the deadband range
 * \li 0.999ms = full "reverse"
 */
class Spark : public PWMMotorController {
 public:
  /**
   * Constructor for a SPARK connected via PWM.
   *
   * @param channel The SmartIO channel that the SPARK is attached to.
   */
  explicit Spark(int channel);

  Spark(Spark&&) = default;
  Spark& operator=(Spark&&) = default;
};

}  // namespace wpi
