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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
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24
wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
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@@ -13,21 +13,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Digilent DMC 60 Speed Controller.
*
* <p>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.
*
* <p><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 DMC60 extends PWMSpeedController {
/**
* Constructor.
*
* <p>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
*
* <p>- 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
*/

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
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@@ -13,6 +13,20 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
*
* <p>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.
*
* <p><ul>
* <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"
* </ul>
*/
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);

25
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
View File

@@ -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.
*
* <P>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.
*
* <p><ul>
* <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"
* </ul>
*/
public class PWMSparkMax extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
*
* <p>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.
*
* <p>- 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);

29
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
View File

@@ -13,23 +13,26 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
*
* <p>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.
*
* <p><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 PWMTalonSRX extends PWMSpeedController {
/**
* Constructor for a PWMTalonSRX connected via PWM.
* Constructor for a TalonSRX connected via PWM.
*
* <p>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.
*
* <p>- 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) {

27
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
View File

@@ -13,21 +13,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
*
* <p>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.
*
* <p><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 PWMVictorSPX extends PWMSpeedController {
/**
* Constructor for a PWMVictorSPX connected via PWM.
*
* <p>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.
*
* <p>- 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

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
View File

@@ -13,20 +13,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Mindsensors SD540 Speed Controller.
*
* <p>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.
*
* <p><ul>
* <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"
* </ul>
*/
public class SD540 extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
*
* <p>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.
*
* <p>- 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);

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
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@@ -13,20 +13,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* REV Robotics SPARK Speed Controller.
*
* <p>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.
*
* <p><ul>
* <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"
* </ul>
*/
public class Spark extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
*
* <p>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.
*
* <p>- 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);

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
View File

@@ -13,21 +13,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
*
* <p>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.
*
* <p><ul>
* <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"
* </ul>
*/
public class Talon extends PWMSpeedController {
/**
* Constructor for a Talon (original or Talon SR).
*
* <p>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.
*
* <p>- 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
*/

26
wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
View File

@@ -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.
*
* <p>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
*
* <p><ul>
* <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"
* </ul>
*/
public class Victor extends PWMSpeedController {
/**
* Constructor.
*
* <p>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
*
* <p>- 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
*/

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
View File

@@ -13,21 +13,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* VEX Robotics Victor SP Speed Controller.
*
* <p>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.
*
* <p><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 VictorSP extends PWMSpeedController {
/**
* Constructor.
*
* <p>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.
*
* <p>- 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
*/