[wpilib] Add PWMSparkFlex MotorController (#6089)

wpilibc/src/main/native/cpp/motorcontrol/PWMSparkFlex.cpp

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+// 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.
+
+#include "frc/motorcontrol/PWMSparkFlex.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+PWMSparkFlex::PWMSparkFlex(int channel)
+    : PWMMotorController("PWMSparkFlex", channel) {
+  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_RevSparkFlexPWM,
+             GetChannel() + 1);
+}

wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkFlex.h

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+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics SPARK Flex Motor %Controller.
+ *
+ * Note that the SPARK Flex 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 Flex 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 PWMSparkFlex : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a SPARK Flex.
+   *
+   * @param channel The PWM channel that the SPARK Flex is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMSparkFlex(int channel);
+
+  PWMSparkFlex(PWMSparkFlex&&) = default;
+  PWMSparkFlex& operator=(PWMSparkFlex&&) = default;
+};
+
+}  // namespace frc

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java

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+// 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.
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
+
+/**
+ * REV Robotics SPARK Flex Motor Controller with PWM control.
+ *
+ * <p>Note that the SPARK Flex 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 Flex User Manual available from
+ * REV Robotics.
+ *
+ * <ul>
+ *   <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"
+ * </ul>
+ */
+public class PWMSparkFlex extends PWMMotorController {
+  /**
+   * Common initialization code called by all constructors.
+   *
+   * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
+   */
+  @SuppressWarnings("this-escape")
+  public PWMSparkFlex(final int channel) {
+    super("PWMSparkFlex", channel);
+
+    m_pwm.setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_RevSparkFlexPWM, getChannel() + 1);
+  }
+}