Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Standardize documentation of Speed Controllers bounds (#2043)

Browse Source 
Some were in constructor docs, some in init function docs, and some
inline in code. Move them all to class docs.
This commit is contained in:
sciencewhiz
2019-11-09 09:14:53 -08:00
committed by Peter Johnson
parent 9bcff37b93
commit 94843adb8f
30 changed files with 296 additions and 244 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
wpilibc/src/main/native/cpp/DMC60.cpp
View File

@@ -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);

8
wpilibc/src/main/native/cpp/Jaguar.cpp
View File

@@ -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);

8
wpilibc/src/main/native/cpp/PWMSparkMax.cpp
View File

@@ -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);

12
wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
View File

@@ -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);

12
wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
View File

@@ -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);

13
wpilibc/src/main/native/cpp/SD540.cpp
View File

@@ -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);

13
wpilibc/src/main/native/cpp/Spark.cpp
View File

@@ -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);

13
wpilibc/src/main/native/cpp/Talon.cpp
View File

@@ -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);

14
wpilibc/src/main/native/cpp/Victor.cpp
View File

@@ -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);

13
wpilibc/src/main/native/cpp/VictorSP.cpp
View File

@@ -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);