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Standardize documentation of Speed Controllers bounds (#2043)

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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
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15
wpilibc/src/main/native/include/frc/DMC60.h
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@@ -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:

15
wpilibc/src/main/native/include/frc/Jaguar.h
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@@ -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:

19
wpilibc/src/main/native/include/frc/PWMSparkMax.h
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@@ -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);

19
wpilibc/src/main/native/include/frc/PWMTalonSRX.h
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@@ -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);

19
wpilibc/src/main/native/include/frc/PWMVictorSPX.h
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@@ -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);

15
wpilibc/src/main/native/include/frc/SD540.h
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@@ -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:

21
wpilibc/src/main/native/include/frc/Spark.h
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@@ -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);

15
wpilibc/src/main/native/include/frc/Talon.h
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@@ -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:

16
wpilibc/src/main/native/include/frc/Victor.h
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@@ -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:

17
wpilibc/src/main/native/include/frc/VictorSP.h
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@@ -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