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[wpilib] PWMSpeedController: Use PWM by composition (#3248)

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This cleans up the user experience by removing lower-level functions from the
interface.

Also remove MotorSafety from "raw" PWM.
This commit is contained in:
Peter Johnson
2021-03-21 11:12:49 -07:00
committed by GitHub
parent 160fb740f4
commit 9550777b9d
32 changed files with 242 additions and 252 deletions
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13
wpilibc/src/main/native/cpp/Talon.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Talon::Talon(int channel) : PWMSpeedController(channel) {
SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
Talon::Talon(int channel) : PWMSpeedController("Talon", channel) {
m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "Talon", GetChannel());
}