[wpilib] Add Koors40 motor controller (#7469)

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Koors40.java

@@ -0,0 +1,48 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+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;
+
+/**
+ * AndyMark Koors40 Motor Controller.
+ *
+ * <p>Note that the Koors40 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 Koors40 User Manual available from
+ * AndyMark.
+ *
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
+ * </ul>
+ */
+public class Koors40 extends PWMMotorController {
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the Koors40 is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
+   */
+  @SuppressWarnings("this-escape")
+  public Koors40(final int channel) {
+    super("Koors40", channel);
+
+    m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k4X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_Koors40, getChannel() + 1);
+  }
+}