Add Digilent DMC 60 Speed Controller (#855)

wpilibc/src/main/native/cpp/DMC60.cpp

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2017 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "DMC60.h"
+
+#include <HAL/HAL.h>
+
+using namespace frc;
+
+/**
+ * Constructor for a Digilent DMC 60.
+ *
+ * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are
+ *                on-board, 10-19 are on the MXP port
+ */
+DMC60::DMC60(int channel) : PWMSpeedController(channel) {
+  /**
+   * Note that the DMC 60 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 DMC 60 User
+   * Manual available from Digilent.
+   *
+   *   2.004ms = full "forward"
+   *   1.52ms = the "high end" of the deadband range
+   *   1.50ms = center of the deadband range (off)
+   *   1.48ms = the "low end" of the deadband range
+   *   0.997ms = full "reverse"
+   */
+  SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetSpeed(0.0);
+  SetZeroLatch();
+
+  // HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
+  SetName("DMC60", GetChannel());
+}