Add PWMVictorSPX (#842)

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

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+//import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+//import edu.wpi.first.wpilibj.hal.HAL;
+
+/**
+ * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
+ */
+public class PWMVictorSPX extends PWMSpeedController {
+
+  /**
+   * Constructor for a PWMVictorSPX connected via PWM.
+   *
+   * <p>Note that the PWMVictorSPX 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 VictorSPX User
+   * Manual available from CTRE.
+   *
+   * <p>- 2.0004ms = 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 - .997ms = full
+   * "reverse"
+   *
+   * @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 are on-board, 10-19
+   *                are on the MXP port
+   */
+  public PWMVictorSPX(final int channel) {
+    super(channel);
+
+    setBounds(2.004, 1.52, 1.50, 1.48, .997);
+    setPeriodMultiplier(PeriodMultiplier.k1X);
+    setSpeed(0.0);
+    setZeroLatch();
+
+    //HAL.report(tResourceType.kResourceType_PWMVictorSPX, getChannel());
+    setName("PWMVictorSPX", getChannel());
+  }
+}