Add PWMSparkMax (#1751)

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+
+/**
+ * REV Robotics SparkMax Speed Controller.
+ */
+public class PWMSparkMax extends PWMSpeedController {
+  /**
+   * Common initialization code called by all constructors.
+   *
+   * <p>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.
+   *
+   * <p>- 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 - .999ms =
+   * full "reverse"
+   */
+  public PWMSparkMax(final int channel) {
+    super(channel);
+
+    setBounds(2.003, 1.55, 1.50, 1.46, .999);
+    setPeriodMultiplier(PeriodMultiplier.k1X);
+    setSpeed(0.0);
+    setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_RevSparkMaxPWM, getChannel());
+    setName("PWMSparkMax", getChannel());
+  }
+}