Make VictorSP and TalonSRX use correct bounds (give an extra 1us on min and max to ensure saturation). Fixes artf3914 for C++ and Java

Change-Id: Ia1a848e011615e4ff50b9f5ef6e1017764aeb904

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java

@@ -7,17 +7,94 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
 /**
  * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
  * @see CANTalon CANTalon for CAN control of Talon SRX
  */
-public class TalonSRX extends Talon {
+public class TalonSRX extends SafePWM implements SpeedController {
+
+    /**
+     * Common initialization code called by all constructors.
+     *
+     * Note that the TalonSRX 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 TalonSRX User Manual available from CTRE.
+     *
+     *   - 2.037ms = full "forward"
+     *   - 1.539ms = the "high end" of the deadband range
+     *   - 1.513ms = center of the deadband range (off)
+     *   - 1.487ms = the "low end" of the deadband range
+     *   - .989ms = full "reverse"
+     */
+    protected void initTalonSRX() {
+        setBounds(2.001, 1.52, 1.50, 1.48, 0.999);
+        setPeriodMultiplier(PeriodMultiplier.k1X);
+        setRaw(m_centerPwm);
+		setZeroLatch();
+
+        LiveWindow.addActuator("TalonSRX", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
+    }
+
     /**
      * Constructor.
      *
-     * @param channel The PWM channel that the Talon SRX is attached to.
+     * @param channel The PWM channel that the Talon is attached to.
      */
     public TalonSRX(final int channel) {
         super(channel);
+        initTalonSRX();
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * @deprecated For compatibility with CANJaguar
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
+     */
+    public void set(double speed, byte syncGroup) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed value between -1.0 and 1.0 to set.
+     */
+    public void set(double speed) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Get the recently set value of the PWM.
+     *
+     * @return The most recently set value for the PWM between -1.0 and 1.0.
+     */
+    public double get() {
+        return getSpeed();
+    }
+
+    /**
+     * Write out the PID value as seen in the PIDOutput base object.
+     *
+     * @param output Write out the PWM value as was found in the PIDController
+     */
+    public void pidWrite(double output) {
+        set(output);
     }
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2012. 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.                                                               */
@@ -7,11 +7,39 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
 /**
- * Vex Robotics Victor SP Speed Controller
+ * VEX Robotics Victor SP Speed Controller
  */
-public class VictorSP extends Talon {
-	
+public class VictorSP extends SafePWM implements SpeedController {
+
+    /**
+     * Common initialization code called by all constructors.
+     *
+     * Note that the VictorSP 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 VictorSP User Manual available from CTRE.
+     *
+     *   - 2.037ms = full "forward"
+     *   - 1.539ms = the "high end" of the deadband range
+     *   - 1.513ms = center of the deadband range (off)
+     *   - 1.487ms = the "low end" of the deadband range
+     *   - .989ms = full "reverse"
+     */
+    protected void initVictorSP() {
+        setBounds(2.001, 1.52, 1.50, 1.48, 0.999);
+        setPeriodMultiplier(PeriodMultiplier.k1X);
+        setRaw(m_centerPwm);
+		setZeroLatch();
+
+        LiveWindow.addActuator("VictorSP", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
+    }
+
     /**
      * Constructor.
      *
@@ -19,6 +47,53 @@ public class VictorSP extends Talon {
      */
     public VictorSP(final int channel) {
         super(channel);
+        initVictorSP();
     }
 
+    /**
+     * Set the PWM value.
+     *
+     * @deprecated For compatibility with CANJaguar
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
+     */
+    public void set(double speed, byte syncGroup) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed value between -1.0 and 1.0 to set.
+     */
+    public void set(double speed) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Get the recently set value of the PWM.
+     *
+     * @return The most recently set value for the PWM between -1.0 and 1.0.
+     */
+    public double get() {
+        return getSpeed();
+    }
+
+    /**
+     * Write out the PID value as seen in the PIDOutput base object.
+     *
+     * @param output Write out the PWM value as was found in the PIDController
+     */
+    public void pidWrite(double output) {
+        set(output);
+    }
 }