Add PWMSparkMax (#1751)

wpilibc/src/main/native/cpp/PWMSparkMax.cpp

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 "frc/PWMSparkMax.h"
+
+#include <hal/HAL.h>
+
+using namespace frc;
+
+PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
+  /* Note that the SparkMax uses the following bounds for PWM values.
+   *
+   *   2.003ms = full "forward"
+   *   1.55ms = the "high end" of the deadband range
+   *   1.50ms = center of the deadband range (off)
+   *   1.46ms = the "low end" of the deadband range
+   *   0.999ms = full "reverse"
+   */
+  SetBounds(2.003, 1.55, 1.50, 1.46, .999);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetSpeed(0.0);
+  SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel());
+  SetName("PWMSparkMax", GetChannel());
+}