diff --git a/wpilibc/src/main/native/cpp/DMC60.cpp b/wpilibc/src/main/native/cpp/DMC60.cpp index c8da5720d9..c1da0ff010 100644 --- a/wpilibc/src/main/native/cpp/DMC60.cpp +++ b/wpilibc/src/main/native/cpp/DMC60.cpp @@ -14,20 +14,6 @@ using namespace frc; DMC60::DMC60(int channel) : PWMSpeedController(channel) { - /* - * Note that the DMC 60 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 DMC 60 User - * Manual available from Digilent. - * - * 2.004ms = 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 - * 0.997ms = full "reverse" - */ SetBounds(2.004, 1.52, 1.50, 1.48, .997); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Jaguar.cpp b/wpilibc/src/main/native/cpp/Jaguar.cpp index 3a548b54ad..e78ee75ca5 100644 --- a/wpilibc/src/main/native/cpp/Jaguar.cpp +++ b/wpilibc/src/main/native/cpp/Jaguar.cpp @@ -14,14 +14,6 @@ using namespace frc; Jaguar::Jaguar(int channel) : PWMSpeedController(channel) { - /* Input profile defined by Luminary Micro. - * - * Full reverse ranges from 0.671325ms to 0.6972211ms - * Proportional reverse ranges from 0.6972211ms to 1.4482078ms - * Neutral ranges from 1.4482078ms to 1.5517922ms - * Proportional forward ranges from 1.5517922ms to 2.3027789ms - * Full forward ranges from 2.3027789ms to 2.328675ms - */ SetBounds(2.31, 1.55, 1.507, 1.454, .697); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMSparkMax.cpp b/wpilibc/src/main/native/cpp/PWMSparkMax.cpp index ecb28b9217..6e4a327889 100644 --- a/wpilibc/src/main/native/cpp/PWMSparkMax.cpp +++ b/wpilibc/src/main/native/cpp/PWMSparkMax.cpp @@ -14,14 +14,6 @@ using namespace frc; PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) { - /* Note that the SparkMax uses the following bounds for PWM values. - * - * 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 - * 0.999ms = full "reverse" - */ SetBounds(2.003, 1.55, 1.50, 1.46, .999); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp b/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp index e7c9897428..26e924ae10 100644 --- a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp +++ b/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp @@ -14,18 +14,6 @@ using namespace frc; PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) { - /* Note that the PWMTalonSRX 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 Cross The Road Electronics. - * 2.004ms = 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 - * 0.997ms = full "reverse" - */ SetBounds(2.004, 1.52, 1.50, 1.48, .997); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp b/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp index 5b2aba6f14..4c2ba1ba7a 100644 --- a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp +++ b/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp @@ -14,18 +14,6 @@ using namespace frc; PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) { - /* 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 Cross The Road Electronics. - * 2.004ms = 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 - * 0.997ms = full "reverse" - */ SetBounds(2.004, 1.52, 1.50, 1.48, .997); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/SD540.cpp b/wpilibc/src/main/native/cpp/SD540.cpp index 9b81f01108..64696b149d 100644 --- a/wpilibc/src/main/native/cpp/SD540.cpp +++ b/wpilibc/src/main/native/cpp/SD540.cpp @@ -14,19 +14,6 @@ using namespace frc; SD540::SD540(int channel) : PWMSpeedController(channel) { - /* Note that the SD540 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 SD540 User Manual available - * from Mindsensors. - * - * 2.05ms = full "forward" - * 1.55ms = the "high end" of the deadband range - * 1.50ms = center of the deadband range (off) - * 1.44ms = the "low end" of the deadband range - * 0.94ms = full "reverse" - */ SetBounds(2.05, 1.55, 1.50, 1.44, .94); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Spark.cpp b/wpilibc/src/main/native/cpp/Spark.cpp index e315e33cf6..7600c8f952 100644 --- a/wpilibc/src/main/native/cpp/Spark.cpp +++ b/wpilibc/src/main/native/cpp/Spark.cpp @@ -14,19 +14,6 @@ using namespace frc; Spark::Spark(int channel) : PWMSpeedController(channel) { - /* 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. - * - * 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 - * 0.999ms = full "reverse" - */ SetBounds(2.003, 1.55, 1.50, 1.46, .999); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Talon.cpp b/wpilibc/src/main/native/cpp/Talon.cpp index 9838a2da4a..f7a646e569 100644 --- a/wpilibc/src/main/native/cpp/Talon.cpp +++ b/wpilibc/src/main/native/cpp/Talon.cpp @@ -14,19 +14,6 @@ using namespace frc; Talon::Talon(int channel) : PWMSpeedController(channel) { - /* Note that the Talon 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 Talon 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 - * 0.989ms = full "reverse" - */ SetBounds(2.037, 1.539, 1.513, 1.487, .989); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Victor.cpp b/wpilibc/src/main/native/cpp/Victor.cpp index 2017ab1387..bce191316d 100644 --- a/wpilibc/src/main/native/cpp/Victor.cpp +++ b/wpilibc/src/main/native/cpp/Victor.cpp @@ -14,20 +14,6 @@ using namespace frc; Victor::Victor(int channel) : PWMSpeedController(channel) { - /* Note that the Victor uses the following bounds for PWM values. These - * values were determined empirically and optimized for the Victor 888. These - * values should work reasonably well for Victor 884 controllers as well but - * if users experience issues such as asymmetric behaviour around the deadband - * or inability to saturate the controller in either direction, calibration is - * recommended. The calibration procedure can be found in the Victor 884 User - * Manual available from IFI. - * - * 2.027ms = full "forward" - * 1.525ms = the "high end" of the deadband range - * 1.507ms = center of the deadband range (off) - * 1.49ms = the "low end" of the deadband range - * 1.026ms = full "reverse" - */ SetBounds(2.027, 1.525, 1.507, 1.49, 1.026); SetPeriodMultiplier(kPeriodMultiplier_2X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/VictorSP.cpp b/wpilibc/src/main/native/cpp/VictorSP.cpp index 176b62f4c2..70d18ce237 100644 --- a/wpilibc/src/main/native/cpp/VictorSP.cpp +++ b/wpilibc/src/main/native/cpp/VictorSP.cpp @@ -14,19 +14,6 @@ using namespace frc; VictorSP::VictorSP(int channel) : PWMSpeedController(channel) { - /* 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 Vex. - * - * 2.004ms = 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 - * 0.997ms = full "reverse" - */ SetBounds(2.004, 1.52, 1.50, 1.48, .997); SetPeriodMultiplier(kPeriodMultiplier_1X); SetSpeed(0.0); diff --git a/wpilibc/src/main/native/include/frc/DMC60.h b/wpilibc/src/main/native/include/frc/DMC60.h index 5a33b5a7c9..ecf01e17f9 100644 --- a/wpilibc/src/main/native/include/frc/DMC60.h +++ b/wpilibc/src/main/native/include/frc/DMC60.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -13,6 +13,19 @@ namespace frc { /** * Digilent DMC 60 Speed Controller. + * + * Note that the DMC 60 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 DMC 60 User + * Manual available from Digilent. + * + * \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" */ class DMC60 : public PWMSpeedController { public: diff --git a/wpilibc/src/main/native/include/frc/Jaguar.h b/wpilibc/src/main/native/include/frc/Jaguar.h index f22eb42a59..7a8503e6de 100644 --- a/wpilibc/src/main/native/include/frc/Jaguar.h +++ b/wpilibc/src/main/native/include/frc/Jaguar.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -13,6 +13,19 @@ namespace frc { /** * Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control. + * + * Note that the Jaguar 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 Jaguar User Manual available from + * Vex. + * + * \li 2.310ms = full "forward" + * \li 1.550ms = the "high end" of the deadband range + * \li 1.507ms = center of the deadband range (off) + * \li 1.454ms = the "low end" of the deadband range + * \li 0.697ms = full "reverse" */ class Jaguar : public PWMSpeedController { public: diff --git a/wpilibc/src/main/native/include/frc/PWMSparkMax.h b/wpilibc/src/main/native/include/frc/PWMSparkMax.h index c8b22d7361..3ce646658a 100644 --- a/wpilibc/src/main/native/include/frc/PWMSparkMax.h +++ b/wpilibc/src/main/native/include/frc/PWMSparkMax.h @@ -12,14 +12,27 @@ namespace frc { /** - * REV Robotics SparkMax Speed Controller. + * REV Robotics SPARK MAX Speed Controller. + * + * Note that the SPARK MAX 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 MAX 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 PWMSparkMax : public PWMSpeedController { public: /** - * Constructor for a SparkMax. + * Constructor for a SPARK MAX. * - * @param channel The PWM channel that the Spark is attached to. 0-9 are + * @param channel The PWM channel that the SPARK MAX is attached to. 0-9 are * on-board, 10-19 are on the MXP port */ explicit PWMSparkMax(int channel); diff --git a/wpilibc/src/main/native/include/frc/PWMTalonSRX.h b/wpilibc/src/main/native/include/frc/PWMTalonSRX.h index 9260e1e85f..b9c83694c7 100644 --- a/wpilibc/src/main/native/include/frc/PWMTalonSRX.h +++ b/wpilibc/src/main/native/include/frc/PWMTalonSRX.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -14,13 +14,26 @@ namespace frc { /** * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM * control. + * + * Note that the Talon SRX 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 Talon SRX User + * Manual available from Cross The Road Electronics. + * + * \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" */ class PWMTalonSRX : public PWMSpeedController { public: /** - * Construct a PWMTalonSRX connected via PWM. + * Construct a Talon SRX connected via PWM. * - * @param channel The PWM channel that the PWMTalonSRX is attached to. 0-9 are + * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are * on-board, 10-19 are on the MXP port */ explicit PWMTalonSRX(int channel); diff --git a/wpilibc/src/main/native/include/frc/PWMVictorSPX.h b/wpilibc/src/main/native/include/frc/PWMVictorSPX.h index d7112c9b7c..a19e7048f8 100644 --- a/wpilibc/src/main/native/include/frc/PWMVictorSPX.h +++ b/wpilibc/src/main/native/include/frc/PWMVictorSPX.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -14,13 +14,26 @@ namespace frc { /** * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM * control. + * + * Note that the Victor SPX 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 Victor SPX User + * Manual available from Cross The Road Electronics. + * + * \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" */ class PWMVictorSPX : public PWMSpeedController { public: /** - * Construct a PWMVictorSPX connected via PWM. + * Construct a Victor SPX connected via PWM. * - * @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 + * @param channel The PWM channel that the Victor SPX is attached to. 0-9 * are on-board, 10-19 are on the MXP port */ explicit PWMVictorSPX(int channel); diff --git a/wpilibc/src/main/native/include/frc/SD540.h b/wpilibc/src/main/native/include/frc/SD540.h index 91666b4a4c..07f7f188ad 100644 --- a/wpilibc/src/main/native/include/frc/SD540.h +++ b/wpilibc/src/main/native/include/frc/SD540.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -13,6 +13,19 @@ namespace frc { /** * Mindsensors SD540 Speed Controller. + * + * Note that the SD540 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 SD540 User Manual available + * from Mindsensors. + * + * \li 2.05ms = full "forward" + * \li 1.55ms = the "high end" of the deadband range + * \li 1.50ms = center of the deadband range (off) + * \li 1.44ms = the "low end" of the deadband range + * \li 0.94ms = full "reverse" */ class SD540 : public PWMSpeedController { public: diff --git a/wpilibc/src/main/native/include/frc/Spark.h b/wpilibc/src/main/native/include/frc/Spark.h index 640696fcd3..24ed8f5dfd 100644 --- a/wpilibc/src/main/native/include/frc/Spark.h +++ b/wpilibc/src/main/native/include/frc/Spark.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -12,14 +12,27 @@ namespace frc { /** - * REV Robotics Speed Controller. + * REV Robotics SPARK Speed Controller. + * + * 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. + * + * \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 Spark : public PWMSpeedController { public: /** - * Constructor for a Spark. + * Constructor for a SPARK. * - * @param channel The PWM channel that the Spark is attached to. 0-9 are + * @param channel The PWM channel that the SPARK is attached to. 0-9 are * on-board, 10-19 are on the MXP port */ explicit Spark(int channel); diff --git a/wpilibc/src/main/native/include/frc/Talon.h b/wpilibc/src/main/native/include/frc/Talon.h index 9a5400ff39..6e92dfc630 100644 --- a/wpilibc/src/main/native/include/frc/Talon.h +++ b/wpilibc/src/main/native/include/frc/Talon.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -13,6 +13,19 @@ namespace frc { /** * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller. + * + * Note that the Talon 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 Talon User Manual available + * from CTRE. + * + * \li 2.037ms = full "forward" + * \li 1.539ms = the "high end" of the deadband range + * \li 1.513ms = center of the deadband range (off) + * \li 1.487ms = the "low end" of the deadband range + * \li 0.989ms = full "reverse" */ class Talon : public PWMSpeedController { public: diff --git a/wpilibc/src/main/native/include/frc/Victor.h b/wpilibc/src/main/native/include/frc/Victor.h index 5b6cba4445..89c4a892c7 100644 --- a/wpilibc/src/main/native/include/frc/Victor.h +++ b/wpilibc/src/main/native/include/frc/Victor.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -16,6 +16,20 @@ namespace frc { * * The Vex Robotics Victor 884 Speed Controller can also be used with this * class but may need to be calibrated per the Victor 884 user manual. + * + * Note that the Victor uses the following bounds for PWM values. These + * values were determined empirically and optimized for the Victor 888. These + * values should work reasonably well for Victor 884 controllers as well 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 Victor 884 User + * Manual available from Vex. + * + * \li 2.027ms = full "forward" + * \li 1.525ms = the "high end" of the deadband range + * \li 1.507ms = center of the deadband range (off) + * \li 1.490ms = the "low end" of the deadband range + * \li 1.026ms = full "reverse" */ class Victor : public PWMSpeedController { public: diff --git a/wpilibc/src/main/native/include/frc/VictorSP.h b/wpilibc/src/main/native/include/frc/VictorSP.h index b23fba165f..d8aa8e862d 100644 --- a/wpilibc/src/main/native/include/frc/VictorSP.h +++ b/wpilibc/src/main/native/include/frc/VictorSP.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 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. */ @@ -13,11 +13,24 @@ namespace frc { /** * Vex Robotics Victor SP Speed Controller. + * + * Note that the Victor SP 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 Victor SP User + * Manual available from Vex. + * + * \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" */ class VictorSP : public PWMSpeedController { public: /** - * Constructor for a VictorSP. + * Constructor for a Victor SP. * * @param channel The PWM channel that the VictorSP is attached to. 0-9 are * on-board, 10-19 are on the MXP port diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java index 8efbfbbd2c..75edd6a370 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java @@ -13,21 +13,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * Digilent DMC 60 Speed Controller. + * + *

Note that the DMC 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 DMC 60 User Manual + * available from Digilent. + * + *

*/ public class DMC60 extends PWMSpeedController { /** * Constructor. * - *

Note that the DMC 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 DMC 60 User Manual - * available from Digilent - * - *

- 2.004ms = 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 DMC60 is attached to. 0-9 are * on-board, 10-19 are on the MXP port */ diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java index a6414512bf..61a604c5d9 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java @@ -13,6 +13,20 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device. + * + *

Note that the Jaguar 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 Jaguar User Manual + * available from Vex. + * + *

*/ public class Jaguar extends PWMSpeedController { /** @@ -24,14 +38,6 @@ public class Jaguar extends PWMSpeedController { public Jaguar(final int channel) { super(channel); - /* - * Input profile defined by Luminary Micro. - * - * Full reverse ranges from 0.671325ms to 0.6972211ms Proportional reverse - * ranges from 0.6972211ms to 1.4482078ms Neutral ranges from 1.4482078ms to - * 1.5517922ms Proportional forward ranges from 1.5517922ms to 2.3027789ms - * Full forward ranges from 2.3027789ms to 2.328675ms - */ setBounds(2.31, 1.55, 1.507, 1.454, .697); setPeriodMultiplier(PeriodMultiplier.k1X); setSpeed(0.0); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java index fb834a59f6..c2981c811c 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java @@ -12,21 +12,26 @@ import edu.wpi.first.hal.HAL; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** - * REV Robotics SparkMax Speed Controller. + * REV Robotics SPARK MAX Speed Controller with PWM control. + * + *

Note that the SPARK MAX 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 MAX User Manual + * available from REV Robotics. + * + *

*/ public class PWMSparkMax extends PWMSpeedController { /** * Common initialization code called by all constructors. * - *

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. - * - *

- 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); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java index c139f27b8e..9543aabeca 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java @@ -13,23 +13,26 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control. + * + *

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. + * + *

*/ public class PWMTalonSRX extends PWMSpeedController { /** - * Constructor for a PWMTalonSRX connected via PWM. + * Constructor for a TalonSRX connected via PWM. * - *

Note that the PWMTalonSRX 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. - * - *

- 2.0004ms = 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 PWMTalonSRX is attached to. 0-9 are on-board, 10-19 are + * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 are * on the MXP port */ public PWMTalonSRX(final int channel) { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java index ee5d9a9688..bed137121e 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java @@ -13,21 +13,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control. + * + *

Note that the Victor SPX 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 Victor SPX User + * Manual available from CTRE. + * + *

*/ public class PWMVictorSPX extends PWMSpeedController { /** - * Constructor for a PWMVictorSPX connected via PWM. - * - *

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. - * - *

- 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" + * Constructor for a Victor SPX connected via PWM. * * @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 are on-board, 10-19 * are on the MXP port diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java index c05d1836b9..21c865a133 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java @@ -13,20 +13,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * Mindsensors SD540 Speed Controller. + * + *

Note that the SD540 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 SD540 User Manual + * available from Mindsensors. + * + *

*/ public class SD540 extends PWMSpeedController { /** * Common initialization code called by all constructors. - * - *

Note that the SD540 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 SD540 User Manual - * available from Mindsensors. - * - *

- 2.05ms = full "forward" - 1.55ms = the "high end" of the deadband range - 1.50ms = center - * of the deadband range (off) - 1.44ms = the "low end" of the deadband range - .94ms = full - * "reverse" */ protected void initSD540() { setBounds(2.05, 1.55, 1.50, 1.44, .94); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java index 9e6c36a685..516d37c5a7 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java @@ -13,20 +13,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * REV Robotics SPARK Speed Controller. + * + *

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. + * + *

*/ public class Spark extends PWMSpeedController { /** * Common initialization code called by all constructors. - * - *

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. - * - *

- 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" */ protected void initSpark() { setBounds(2.003, 1.55, 1.50, 1.46, .999); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java index 84db704d0d..6a9ea2eed9 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java @@ -13,21 +13,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller. + * + *

Note that the Talon 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 Talon User Manual + * available from CTRE. + * + *

*/ public class Talon extends PWMSpeedController { /** * Constructor for a Talon (original or Talon SR). * - *

Note that the Talon 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 Talon 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" - * * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on * the MXP port */ diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java index 0af2bd38b6..2d1924092d 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java @@ -14,22 +14,26 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also * be used with this class but may need to be calibrated per the Victor 884 user manual. + * + *

Note that the Victor uses the following bounds for PWM values. These values were determined + * empirically and optimized for the Victor 888. These values should work reasonably well for + * Victor 884 controllers also but if users experience issues such as asymmetric behaviour around + * the deadband or inability to saturate the controller in either direction, calibration is + * recommended. The calibration procedure can be found in the Victor 884 User Manual available + * from VEX Robotics: http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf + * + *

*/ public class Victor extends PWMSpeedController { /** * Constructor. * - *

Note that the Victor uses the following bounds for PWM values. These values were determined - * empirically and optimized for the Victor 888. These values should work reasonably well for - * Victor 884 controllers also but if users experience issues such as asymmetric behaviour around - * the deadband or inability to saturate the controller in either direction, calibration is - * recommended. The calibration procedure can be found in the Victor 884 User Manual available - * from VEX Robotics: http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf - * - *

- 2.027ms = full "forward" - 1.525ms = the "high end" of the deadband range - 1.507ms = - * center of the deadband range (off) - 1.49ms = the "low end" of the deadband range - 1.026ms = - * full "reverse" - * * @param channel The PWM channel that the Victor is attached to. 0-9 are * on-board, 10-19 are on the MXP port */ diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java index 7220968211..8f463084a4 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java @@ -13,21 +13,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; /** * VEX Robotics Victor SP Speed Controller. + * + *

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. + * + *

*/ public class VictorSP extends PWMSpeedController { /** * Constructor. * - *

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. - * - *

- 2.004ms = 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 VictorSP is attached to. 0-9 are * on-board, 10-19 are on the MXP port */