[wpilib] Pregenerate PWM motor controllers (#6742)

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>

.github/workflows/pregenerate.yml

@@ -34,6 +34,8 @@ jobs:
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Run HIDs
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
+      - name: Run PWM Controllers
+        run: ./wpilibj/generate_pwm_motor_controllers.py && ./wpilibc/generate_pwm_motor_controllers.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

wpilibc/generate_pwm_motor_controllers.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+import argparse
+import json
+import sys
+import os
+from typing import Dict, Any
+from pathlib import Path
+
+from jinja2 import Environment, FileSystemLoader
+from jinja2.environment import Template
+
+
+def render_template(
+    template: Template, output_dir: Path, filename: str, controller: Dict[str, Any]
+):
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    output_file = output_dir / filename
+    output_file.write_text(template.render(controller), encoding="utf-8")
+
+
+def generate_cpp_headers(
+    output_root: Path, template_root: Path, pwm_motor_controllers: Dict[str, Any]
+):
+    header_template_root = template_root / "main/native/include/frc/motorcontroller"
+    env = Environment(
+        loader=FileSystemLoader(header_template_root),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    root_path = output_root / "main/native/include/frc/motorcontrol"
+    template = env.get_template("pwm_motor_controller.h.jinja")
+
+    for controller in pwm_motor_controllers:
+        controller_name = os.path.basename(f"{controller['name']}.h")
+        render_template(template, root_path, controller_name, controller)
+
+
+def generate_cpp_sources(output_root, template_root, pwm_motor_controllers):
+    cpp_template_root = str(template_root / "main/native/cpp/motorcontroller")
+    env = Environment(
+        loader=FileSystemLoader(cpp_template_root),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    root_path = output_root / "main/native/cpp/motorcontrol"
+    template = env.get_template("pwm_motor_controller.cpp.jinja")
+
+    for controller in pwm_motor_controllers:
+        controller_name = os.path.basename(f"{controller['name']}.cpp")
+        render_template(template, root_path, controller_name, controller)
+
+
+def generate_pwm_motor_controllers(
+    output_root: Path, template_root: Path, schema_root: Path
+):
+    with (schema_root / "pwm_motor_controllers.json").open(encoding="utf-8") as f:
+        controllers = json.load(f)
+
+    generate_cpp_headers(output_root, template_root, controllers)
+    generate_cpp_sources(output_root, template_root, controllers)
+
+
+def main(argv):
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/generated",
+        type=Path,
+    )
+    parser.add_argument(
+        "--schema_root",
+        help="Optional. If set, will use this directory as the root for discovering the pwm controller schema",
+        default=dirname / "../wpilibj/src/generate",
+        type=Path,
+    )
+    parser.add_argument(
+        "--template_root",
+        help="Optional. If set, will use this directory as the root for the jinja templates",
+        default=dirname / "src/generate",
+        type=Path,
+    )
+    args = parser.parse_args(argv)
+
+    generate_pwm_motor_controllers(
+        args.output_directory, args.template_root, args.schema_root
+    )
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja

@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#include "frc/motorcontrol/{{ name }}.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+{{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
+  m_pwm.SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_{{ PeriodMultiplier | default("1", true)}}X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_{{ ResourceName }}, GetChannel() + 1);
+}

wpilibc/src/generate/main/native/include/frc/motorcontroller/pwm_motor_controller.h.jinja

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * {{ Manufacturer }} {{ DisplayName }} Motor Controller with PWM control.
+ *
+ * Note that the {{ DisplayName }} 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 {{ DisplayName }} User
+ * Manual available from {{ Manufacturer }}.
+ *
+ * \li {{ "{:.3f}".format(pulse_width_ms.max) }}ms = full "forward"
+ * \li {{ "{:.3f}".format(pulse_width_ms.deadbandMax) }}ms = the "high end" of the deadband range
+ * \li {{ "{:.3f}".format(pulse_width_ms.center) }}ms = center of the deadband range (off)
+ * \li {{ "{:.3f}".format(pulse_width_ms.deadbandMin) }}ms = the "low end" of the deadband range
+ * \li {{ "{:.3f}".format(pulse_width_ms.min) }}ms = full "reverse"
+ */
+class {{ name }} : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a {{ DisplayName }} connected via PWM.
+   *
+   * @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit {{ name }}(int channel);
+
+  {{ name }}({{ name }}&&) = default;
+  {{ name }}& operator=({{ name }}&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/DMC60.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -9,7 +11,7 @@
 using namespace frc;
 
 DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
+  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/Jaguar.h"
 
 #include <hal/FRCUsageReporting.h>

wpilibc/src/generated/main/native/cpp/motorcontrol/PWMSparkFlex.cpp

@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/PWMSparkFlex.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-PWMSparkFlex::PWMSparkFlex(int channel)
-    : PWMMotorController("PWMSparkFlex", channel) {
-  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
+PWMSparkFlex::PWMSparkFlex(int channel) : PWMMotorController("PWMSparkFlex", channel) {
+  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();
 
-  HAL_Report(HALUsageReporting::kResourceType_RevSparkFlexPWM,
-             GetChannel() + 1);
+  HAL_Report(HALUsageReporting::kResourceType_RevSparkFlexPWM, GetChannel() + 1);
 }

wpilibc/src/generated/main/native/cpp/motorcontrol/PWMSparkMax.cpp

@@ -2,15 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/PWMSparkMax.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-PWMSparkMax::PWMSparkMax(int channel)
-    : PWMMotorController("PWMSparkMax", channel) {
-  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
+PWMSparkMax::PWMSparkMax(int channel) : PWMMotorController("PWMSparkMax", channel) {
+  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/PWMTalonFX.cpp

@@ -2,15 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/PWMTalonFX.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-PWMTalonFX::PWMTalonFX(int channel)
-    : PWMMotorController("PWMTalonFX", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
+PWMTalonFX::PWMTalonFX(int channel) : PWMMotorController("PWMTalonFX", channel) {
+  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/PWMTalonSRX.cpp

@@ -2,15 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/PWMTalonSRX.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-PWMTalonSRX::PWMTalonSRX(int channel)
-    : PWMMotorController("PWMTalonSRX", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
+PWMTalonSRX::PWMTalonSRX(int channel) : PWMMotorController("PWMTalonSRX", channel) {
+  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/PWMVenom.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/PWMVenom.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -9,7 +11,7 @@
 using namespace frc;
 
 PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
+  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/PWMVictorSPX.cpp

@@ -2,15 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/PWMVictorSPX.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-PWMVictorSPX::PWMVictorSPX(int channel)
-    : PWMMotorController("PWMVictorSPX", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
+PWMVictorSPX::PWMVictorSPX(int channel) : PWMMotorController("PWMVictorSPX", channel) {
+  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/SD540.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -9,11 +11,10 @@
 using namespace frc;
 
 SD540::SD540(int channel) : PWMMotorController("SD540", channel) {
-  m_pwm.SetBounds(2.05_ms, 1.55_ms, 1.50_ms, 1.44_ms, 0.94_ms);
+  m_pwm.SetBounds(2.05_ms, 1.55_ms, 1.5_ms, 1.44_ms, 0.94_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();
 
-  HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540,
-             GetChannel() + 1);
+  HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel() + 1);
 }

wpilibc/src/generated/main/native/cpp/motorcontrol/Spark.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/Spark.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -9,7 +11,7 @@
 using namespace frc;
 
 Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
-  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
+  m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/cpp/motorcontrol/Talon.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/Talon.h"
 
 #include <hal/FRCUsageReporting.h>

wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/Victor.h"
 
 #include <hal/FRCUsageReporting.h>

wpilibc/src/generated/main/native/cpp/motorcontrol/VictorSP.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #include "frc/motorcontrol/VictorSP.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -9,7 +11,7 @@
 using namespace frc;
 
 VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
+  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);
   m_pwm.SetZeroLatch();

wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,7 +11,7 @@
 namespace frc {
 
 /**
- * Digilent DMC 60 Motor %Controller.
+ * Digilent DMC 60 Motor Controller with PWM control.
  *
  * Note that the DMC 60 uses the following bounds for PWM values. These
  * values should work reasonably well for most controllers, but if users
@@ -27,7 +29,7 @@ namespace frc {
 class DMC60 : public PWMMotorController {
  public:
   /**
-   * Constructor for a Digilent DMC 60.
+   * Constructor for a DMC 60 connected via PWM.
    *
    * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port

wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,14 +11,14 @@
 namespace frc {
 
 /**
- * Luminary Micro / Vex Robotics Jaguar Motor %Controller with PWM control.
+ * Luminary Micro / Vex Robotics Jaguar Motor 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.
+ * 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 Luminary Micro / Vex Robotics.
  *
  * \li 2.310ms = full "forward"
  * \li 1.550ms = the "high end" of the deadband range

wpilibc/src/generated/main/native/include/frc/motorcontrol/PWMSparkFlex.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,7 +11,7 @@
 namespace frc {
 
 /**
- * REV Robotics SPARK Flex Motor %Controller.
+ * REV Robotics SPARK Flex Motor Controller with PWM control.
  *
  * Note that the SPARK Flex uses the following bounds for PWM values. These
  * values should work reasonably well for most controllers, but if users
@@ -27,7 +29,7 @@ namespace frc {
 class PWMSparkFlex : public PWMMotorController {
  public:
   /**
-   * Constructor for a SPARK Flex.
+   * Constructor for a SPARK Flex connected via PWM.
    *
    * @param channel The PWM channel that the SPARK Flex is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port

wpilibc/src/generated/main/native/include/frc/motorcontrol/PWMSparkMax.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,7 +11,7 @@
 namespace frc {
 
 /**
- * REV Robotics SPARK MAX Motor %Controller.
+ * REV Robotics SPARK MAX Motor 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
@@ -27,7 +29,7 @@ namespace frc {
 class PWMSparkMax : public PWMMotorController {
  public:
   /**
-   * Constructor for a SPARK MAX.
+   * Constructor for a SPARK MAX connected via PWM.
    *
    * @param channel The PWM channel that the SPARK MAX is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port

wpilibc/src/generated/main/native/include/frc/motorcontrol/PWMTalonFX.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,15 +11,14 @@
 namespace frc {
 
 /**
- * Cross the Road Electronics (CTRE) %Talon FX Motor %Controller with PWM
- * control.
+ * Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control.
  *
- * Note that the %Talon FX uses the following bounds for PWM values. These
+ * Note that the Talon FX 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 FX User
- * Manual available from Cross The Road Electronics.
+ * recommended. The calibration procedure can be found in the Talon FX User
+ * Manual available from Cross the Road Electronics (CTRE).
  *
  * \li 2.004ms = full "forward"
  * \li 1.520ms = the "high end" of the deadband range
@@ -28,9 +29,9 @@ namespace frc {
 class PWMTalonFX : public PWMMotorController {
  public:
   /**
-   * Construct a %Talon FX connected via PWM.
+   * Constructor for a Talon FX connected via PWM.
    *
-   * @param channel The PWM channel that the %Talon FX is attached to. 0-9 are
+   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port
    */
   explicit PWMTalonFX(int channel);

wpilibc/src/generated/main/native/include/frc/motorcontrol/PWMTalonSRX.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,15 +11,14 @@
 namespace frc {
 
 /**
- * Cross the Road Electronics (CTRE) %Talon SRX Motor %Controller with PWM
- * control.
+ * Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control.
  *
- * Note that the %Talon SRX uses the following bounds for PWM values. These
+ * 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.
+ * recommended. The calibration procedure can be found in the Talon SRX User
+ * Manual available from Cross the Road Electronics (CTRE).
  *
  * \li 2.004ms = full "forward"
  * \li 1.520ms = the "high end" of the deadband range
@@ -28,9 +29,9 @@ namespace frc {
 class PWMTalonSRX : public PWMMotorController {
  public:
   /**
-   * Construct a %Talon SRX connected via PWM.
+   * Constructor for a Talon SRX connected via PWM.
    *
-   * @param channel The PWM channel that the %Talon SRX 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);

wpilibc/src/generated/main/native/include/frc/motorcontrol/PWMVenom.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,13 +11,14 @@
 namespace frc {
 
 /**
- * Playing with Fusion Venom Smart Motor with PWM control.
+ * Playing with Fusion Venom Motor Controller with PWM control.
  *
  * Note that the Venom 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.
+ * recommended. The calibration procedure can be found in the Venom User
+ * Manual available from Playing with Fusion.
  *
  * \li 2.004ms = full "forward"
  * \li 1.520ms = the "high end" of the deadband range
@@ -26,7 +29,7 @@ namespace frc {
 class PWMVenom : public PWMMotorController {
  public:
   /**
-   * Construct a Venom connected via PWM.
+   * Constructor for a Venom connected via PWM.
    *
    * @param channel The PWM channel that the Venom is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port

wpilibc/src/generated/main/native/include/frc/motorcontrol/PWMVictorSPX.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,15 +11,14 @@
 namespace frc {
 
 /**
- * Cross the Road Electronics (CTRE) %Victor SPX Motor %Controller with PWM
- * control.
+ * Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control.
  *
- * Note that the %Victor SPX uses the following bounds for PWM values. These
+ * 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.
+ * recommended. The calibration procedure can be found in the Victor SPX User
+ * Manual available from Cross the Road Electronics (CTRE).
  *
  * \li 2.004ms = full "forward"
  * \li 1.520ms = the "high end" of the deadband range
@@ -28,10 +29,10 @@ namespace frc {
 class PWMVictorSPX : public PWMMotorController {
  public:
   /**
-   * Construct a %Victor SPX connected via PWM.
+   * Constructor for a Victor SPX connected via PWM.
    *
-   * @param channel The PWM channel that the %Victor SPX is attached to. 0-9
-   *                are on-board, 10-19 are on the MXP port
+   * @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);
 

wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Mindsensors SD540 Motor Controller with PWM control.
+ *
+ * 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 2.050ms = full "forward"
+ * \li 1.550ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.440ms = the "low end" of the deadband range
+ * \li 0.940ms = full "reverse"
+ */
+class SD540 : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a SD540 connected via PWM.
+   *
+   * @param channel The PWM channel that the SD540 is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit SD540(int channel);
+
+  SD540(SD540&&) = default;
+  SD540& operator=(SD540&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/generated/main/native/include/frc/motorcontrol/Spark.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,14 +11,14 @@
 namespace frc {
 
 /**
- * REV Robotics SPARK Motor %Controller.
+ * REV Robotics SPARK Motor Controller with PWM control.
  *
- * 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.
+ * 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
@@ -27,7 +29,7 @@ namespace frc {
 class Spark : public PWMMotorController {
  public:
   /**
-   * Constructor for a SPARK.
+   * Constructor for a SPARK connected via PWM.
    *
    * @param channel The PWM channel that the SPARK is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port

wpilibc/src/generated/main/native/include/frc/motorcontrol/Talon.h

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon Motor Controller with PWM control.
+ *
+ * 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 Cross the Road Electronics (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 PWMMotorController {
+ public:
+  /**
+   * Constructor for a Talon connected via PWM.
+   *
+   * @param channel The PWM channel that the Talon is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit Talon(int channel);
+
+  Talon(Talon&&) = default;
+  Talon& operator=(Talon&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor 888 Motor Controller with PWM control.
+ *
+ * Note that the Victor 888 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 888 User
+ * Manual available from Vex Robotics.
+ *
+ * \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 PWMMotorController {
+ public:
+  /**
+   * Constructor for a Victor 888 connected via PWM.
+   *
+   * @param channel The PWM channel that the Victor 888 is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit Victor(int channel);
+
+  Victor(Victor&&) = default;
+  Victor& operator=(Victor&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/generated/main/native/include/frc/motorcontrol/VictorSP.h

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/motorcontrol/PWMMotorController.h"
@@ -9,14 +11,14 @@
 namespace frc {
 
 /**
- * Vex Robotics %Victor SP Motor %Controller.
+ * Vex Robotics Victor SP Motor Controller with PWM control.
  *
- * Note that the %Victor SP uses the following bounds for PWM values. These
+ * 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.
+ * recommended. The calibration procedure can be found in the Victor SP User
+ * Manual available from Vex Robotics.
  *
  * \li 2.004ms = full "forward"
  * \li 1.520ms = the "high end" of the deadband range
@@ -27,7 +29,7 @@ namespace frc {
 class VictorSP : public PWMMotorController {
  public:
   /**
-   * Constructor for a %Victor SP.
+   * Constructor for a Victor SP connected via PWM.
    *
    * @param channel The PWM channel that the Victor SP is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port

wpilibc/src/main/native/include/frc/motorcontrol/SD540.h

@@ -1,41 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Mindsensors SD540 Motor %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 PWMMotorController {
- public:
-  /**
-   * Constructor for a SD540.
-   *
-   * @param channel The PWM channel that the SD540 is attached to. 0-9 are
-   *                on-board, 10-19 are on the MXP port
-   */
-  explicit SD540(int channel);
-
-  SD540(SD540&&) = default;
-  SD540& operator=(SD540&&) = default;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/Talon.h

@@ -1,41 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Cross the Road Electronics (CTRE) %Talon and %Talon SR Motor %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 PWMMotorController {
- public:
-  /**
-   * Constructor for a %Talon (original or %Talon SR).
-   *
-   * @param channel The PWM channel number that the %Talon is attached to. 0-9
-   *                are on-board, 10-19 are on the MXP port
-   */
-  explicit Talon(int channel);
-
-  Talon(Talon&&) = default;
-  Talon& operator=(Talon&&) = default;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/Victor.h

@@ -1,45 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Vex Robotics %Victor 888 Motor %Controller.
- *
- * The Vex Robotics %Victor 884 Motor %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 PWMMotorController {
- public:
-  /**
-   * Constructor for a %Victor.
-   *
-   * @param channel The PWM channel number that the %Victor is attached to. 0-9
-   *                are on-board, 10-19 are on the MXP port
-   */
-  explicit Victor(int channel);
-
-  Victor(Victor&&) = default;
-  Victor& operator=(Victor&&) = default;
-};
-
-}  // namespace frc

wpilibj/generate_pwm_motor_controllers.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+import argparse
+import json
+import sys
+from pathlib import Path
+from typing import Dict, Any
+
+from jinja2 import Environment, FileSystemLoader
+from jinja2.environment import Template
+
+
+def render_template(
+    template: Template, output_dir: Path, filename: str, controller: Dict[str, Any]
+):
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    output_file = output_dir / filename
+    output_file.write_text(template.render(controller), encoding="utf-8")
+
+
+def generate_pwm_motor_controllers(output_root, template_root):
+    with (template_root / "pwm_motor_controllers.json").open(encoding="utf-8") as f:
+        controllers = json.load(f)
+
+    env = Environment(
+        loader=FileSystemLoader(str(template_root)),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    root_path = Path(output_root) / "main/java/edu/wpi/first/wpilibj/motorcontrol"
+    template = env.get_template("pwm_motor_controller.java.jinja")
+
+    for controller in controllers:
+        controller_name = f"{controller['name']}.java"
+        render_template(template, root_path, controller_name, controller)
+
+
+def main(argv):
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/generated",
+        type=Path,
+    )
+    parser.add_argument(
+        "--template_root",
+        help="Optional. If set, will use this directory as the root for the jinja templates",
+        default=dirname / "src/generate",
+        type=Path,
+    )
+    args = parser.parse_args(argv)
+
+    generate_pwm_motor_controllers(args.output_directory, args.template_root)
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

wpilibj/src/generate/pwm_motor_controller.java.jinja

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
+
+/**
+ * {{ Manufacturer }} {{ DisplayName }} Motor Controller.
+ *
+ * <p>Note that the {{ DisplayName }} 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 {{ DisplayName }} User Manual available from
+ * {{ Manufacturer }}.
+ *
+ * <ul>
+ *   <li>{{ "{:.3f}".format(pulse_width_ms.max) }}ms = full "forward"
+ *   <li>{{ "{:.3f}".format(pulse_width_ms.deadbandMax) }}ms = the "high end" of the deadband range
+ *   <li>{{ "{:.3f}".format(pulse_width_ms.center) }}ms = center of the deadband range (off)
+ *   <li>{{ "{:.3f}".format(pulse_width_ms.deadbandMin) }}ms = the "low end" of the deadband range
+ *   <li>{{ "{:.3f}".format(pulse_width_ms.min) }}ms = full "reverse"
+ * </ul>
+ */
+public class {{ name }} extends PWMMotorController {
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
+   */
+  @SuppressWarnings("this-escape")
+  public {{ name }}(final int channel) {
+    super("{{ name }}", channel);
+
+    m_pwm.setBoundsMicroseconds({{ (pulse_width_ms.max * 1000) | int }}, {{ (pulse_width_ms.deadbandMax * 1000) | int }}, {{ (pulse_width_ms.center * 1000) | int }}, {{ (pulse_width_ms.deadbandMin * 1000) | int }}, {{ (pulse_width_ms.min * 1000) | int }});
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k{{ PeriodMultiplier | default("1", true)}}X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_{{ ResourceName }}, getChannel() + 1);
+  }
+}

wpilibj/src/generate/pwm_motor_controllers.json

@@ -0,0 +1,172 @@
+[
+  {
+    "name": "DMC60",
+    "Manufacturer": "Digilent",
+    "DisplayName": "DMC 60",
+    "ResourceName": "DigilentDMC60",
+    "pulse_width_ms": {
+      "max": 2.004,
+      "deadbandMax": 1.520,
+      "center": 1.500,
+      "deadbandMin": 1.480,
+      "min": 0.997
+    }
+  },
+  {
+    "name": "Jaguar",
+    "Manufacturer": "Luminary Micro / Vex Robotics",
+    "DisplayName": "Jaguar",
+    "ResourceName": "Jaguar",
+    "pulse_width_ms": {
+      "max": 2.310,
+      "deadbandMax": 1.550,
+      "center": 1.507,
+      "deadbandMin": 1.454,
+      "min": 0.697
+    }
+  },
+  {
+    "name": "PWMSparkFlex",
+    "Manufacturer": "REV Robotics",
+    "DisplayName": "SPARK Flex",
+    "ResourceName": "RevSparkFlexPWM",
+    "pulse_width_ms": {
+      "max": 2.003,
+      "deadbandMax": 1.550,
+      "center": 1.500,
+      "deadbandMin": 1.460,
+      "min": 0.999
+    }
+  },
+  {
+    "name": "PWMSparkMax",
+    "Manufacturer": "REV Robotics",
+    "DisplayName": "SPARK MAX",
+    "ResourceName": "RevSparkMaxPWM",
+    "pulse_width_ms": {
+      "max": 2.003,
+      "deadbandMax": 1.550,
+      "center": 1.500,
+      "deadbandMin": 1.460,
+      "min": 0.999
+    }
+  },
+  {
+    "name": "PWMTalonFX",
+    "Manufacturer": "Cross the Road Electronics (CTRE)",
+    "DisplayName": "Talon FX",
+    "ResourceName": "TalonFX",
+    "pulse_width_ms": {
+      "max": 2.004,
+      "deadbandMax": 1.520,
+      "center": 1.500,
+      "deadbandMin": 1.480,
+      "min": 0.997
+    }
+  },
+  {
+    "name": "PWMTalonSRX",
+    "Manufacturer": "Cross the Road Electronics (CTRE)",
+    "DisplayName": "Talon SRX",
+    "ResourceName": "PWMTalonSRX",
+    "pulse_width_ms": {
+      "max": 2.004,
+      "deadbandMax": 1.520,
+      "center": 1.500,
+      "deadbandMin": 1.480,
+      "min": 0.997
+    }
+  },
+  {
+    "name": "PWMVenom",
+    "Manufacturer": "Playing with Fusion",
+    "DisplayName": "Venom",
+    "ResourceName": "FusionVenom",
+    "pulse_width_ms": {
+      "max": 2.004,
+      "deadbandMax": 1.520,
+      "center": 1.500,
+      "deadbandMin": 1.480,
+      "min": 0.997
+    }
+  },
+  {
+    "name": "PWMVictorSPX",
+    "Manufacturer": "Cross the Road Electronics (CTRE)",
+    "DisplayName": "Victor SPX",
+    "ResourceName": "PWMVictorSPX",
+    "pulse_width_ms": {
+      "max": 2.004,
+      "deadbandMax": 1.520,
+      "center": 1.500,
+      "deadbandMin": 1.480,
+      "min": 0.997
+    }
+  },
+  {
+    "name": "SD540",
+    "Manufacturer": "Mindsensors",
+    "DisplayName": "SD540",
+    "ResourceName": "MindsensorsSD540",
+    "pulse_width_ms": {
+      "max": 2.05,
+      "deadbandMax": 1.55,
+      "center": 1.50,
+      "deadbandMin": 1.44,
+      "min": 0.94
+    }
+  },
+  {
+    "name": "Spark",
+    "Manufacturer": "REV Robotics",
+    "DisplayName": "SPARK",
+    "ResourceName": "RevSPARK",
+    "pulse_width_ms": {
+      "max": 2.003,
+      "deadbandMax": 1.550,
+      "center": 1.500,
+      "deadbandMin": 1.460,
+      "min": 0.999
+    }
+  },
+  {
+    "name": "Talon",
+    "Manufacturer": "Cross the Road Electronics (CTRE)",
+    "DisplayName": "Talon",
+    "ResourceName": "Talon",
+    "pulse_width_ms": {
+      "max": 2.037,
+      "deadbandMax": 1.539,
+      "center": 1.513,
+      "deadbandMin": 1.487,
+      "min": 0.989
+    }
+  },
+  {
+    "name": "Victor",
+    "Manufacturer": "Vex Robotics",
+    "DisplayName": "Victor 888",
+    "ResourceName": "Victor",
+    "PeriodMultiplier": 2,
+    "pulse_width_ms": {
+      "max": 2.027,
+      "deadbandMax": 1.525,
+      "center": 1.507,
+      "deadbandMin": 1.490,
+      "min": 1.026
+    }
+  },
+  {
+    "name": "VictorSP",
+    "Manufacturer": "Vex Robotics",
+    "DisplayName": "Victor SP",
+    "ResourceName": "VictorSP",
+    "pulse_width_ms": {
+      "max": 2.004,
+      "deadbandMax": 1.520,
+      "center": 1.500,
+      "deadbandMin": 1.480,
+      "min": 0.997
+    }
+  }
+]

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -11,7 +13,7 @@ import edu.wpi.first.wpilibj.PWM;
 /**
  * Digilent DMC 60 Motor Controller.
  *
- * <p>Note that the DMC uses the following bounds for PWM values. These values should work
+ * <p>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
@@ -29,8 +31,8 @@ public class DMC60 extends PWMMotorController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the DMC60 is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public DMC60(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,12 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Texas Instruments / Vex Robotics Jaguar Motor Controller as a PWM device.
+ * Luminary Micro / Vex Robotics Jaguar Motor Controller.
  *
  * <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.
+ * recommended. The calibration procedure can be found in the Jaguar User Manual available from
+ * Luminary Micro / Vex Robotics.
  *
  * <ul>
  *   <li>2.310ms = full "forward"
@@ -28,8 +31,8 @@ public class Jaguar extends PWMMotorController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public Jaguar(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,7 +11,7 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * REV Robotics SPARK Flex Motor Controller with PWM control.
+ * REV Robotics SPARK Flex Motor Controller.
  *
  * <p>Note that the SPARK Flex 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
@@ -27,9 +29,10 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class PWMSparkFlex extends PWMMotorController {
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
    *
-   * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
+   * @param channel The PWM channel that the SPARK Flex is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public PWMSparkFlex(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,7 +11,7 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * REV Robotics SPARK MAX Motor Controller with PWM control.
+ * REV Robotics SPARK MAX Motor Controller.
  *
  * <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
@@ -27,9 +29,10 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class PWMSparkMax extends PWMMotorController {
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
    *
-   * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
+   * @param channel The PWM channel that the SPARK MAX is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public PWMSparkMax(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,13 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control.
+ * Cross the Road Electronics (CTRE) Talon FX Motor Controller.
  *
- * <p>Note that the TalonFX uses the following bounds for PWM values. These values should work
+ * <p>Note that the Talon FX 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 TalonFX User Manual available from
- * CTRE.
+ * recommended. The calibration procedure can be found in the Talon FX User Manual available from
+ * Cross the Road Electronics (CTRE).
  *
  * <ul>
  *   <li>2.004ms = full "forward"
@@ -27,10 +29,10 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class PWMTalonFX extends PWMMotorController {
   /**
-   * Constructor for a TalonFX connected via PWM.
+   * Constructor.
    *
-   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public PWMTalonFX(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,13 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control.
+ * Cross the Road Electronics (CTRE) Talon SRX Motor Controller.
  *
- * <p>Note that the TalonSRX uses the following bounds for PWM values. These values should work
+ * <p>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 TalonSRX User Manual available from
- * CTRE.
+ * recommended. The calibration procedure can be found in the Talon SRX User Manual available from
+ * Cross the Road Electronics (CTRE).
  *
  * <ul>
  *   <li>2.004ms = full "forward"
@@ -27,10 +29,10 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class PWMTalonSRX extends PWMMotorController {
   /**
-   * Constructor for a TalonSRX connected via PWM.
+   * Constructor.
    *
-   * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 are
-   *     on the MXP port
+   * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public PWMTalonSRX(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,12 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Playing with Fusion Venom Smart Motor with PWM control.
+ * Playing with Fusion Venom Motor Controller.
  *
  * <p>Note that the Venom 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.
+ * recommended. The calibration procedure can be found in the Venom User Manual available from
+ * Playing with Fusion.
  *
  * <ul>
  *   <li>2.004ms = full "forward"
@@ -26,10 +29,10 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class PWMVenom extends PWMMotorController {
   /**
-   * Constructor for a Venom connected via PWM.
+   * Constructor.
    *
-   * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public PWMVenom(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,13 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control.
+ * Cross the Road Electronics (CTRE) Victor SPX Motor Controller.
  *
  * <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.
+ * Cross the Road Electronics (CTRE).
  *
  * <ul>
  *   <li>2.004ms = full "forward"
@@ -27,9 +29,9 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class PWMVictorSPX extends PWMMotorController {
   /**
-   * Constructor for a Victor SPX connected via PWM.
+   * Constructor.
    *
-   * @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 are on-board, 10-19
+   * @param channel The PWM channel that the Victor SPX is attached to. 0-9 are on-board, 10-19
    *     are on the MXP port
    */
   @SuppressWarnings("this-escape")

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -18,19 +20,19 @@ import edu.wpi.first.wpilibj.PWM;
  * Mindsensors.
  *
  * <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"
+ *   <li>2.050ms = full "forward"
+ *   <li>1.550ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.440ms = the "low end" of the deadband range
+ *   <li>0.940ms = full "reverse"
  * </ul>
  */
 public class SD540 extends PWMMotorController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public SD540(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -14,8 +16,8 @@ import edu.wpi.first.wpilibj.PWM;
  * <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.
+ * recommended. The calibration procedure can be found in the SPARK User Manual available from
+ * REV Robotics.
  *
  * <ul>
  *   <li>2.003ms = full "forward"
@@ -29,8 +31,8 @@ public class Spark extends PWMMotorController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public Spark(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,12 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Talon and Talon SR Motor Controller.
+ * Cross the Road Electronics (CTRE) Talon Motor 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.
+ * recommended. The calibration procedure can be found in the Talon User Manual available from
+ * Cross the Road Electronics (CTRE).
  *
  * <ul>
  *   <li>2.037ms = full "forward"
@@ -26,10 +29,10 @@ import edu.wpi.first.wpilibj.PWM;
  */
 public class Talon extends PWMMotorController {
   /**
-   * Constructor for a Talon (original or Talon SR).
+   * Constructor.
    *
-   * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public Talon(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,16 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * VEX Robotics Victor 888 Motor Controller The Vex Robotics Victor 884 Motor Controller can also be
- * used with this class but may need to be calibrated per the Victor 884 user manual.
+ * Vex Robotics Victor 888 Motor Controller.
  *
- * <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 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 Robotics:
- * <a
- * href="http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf">http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf</a>
+ * <p>Note that the Victor 888 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 888 User Manual available from
+ * Vex Robotics.
  *
  * <ul>
  *   <li>2.027ms = full "forward"
@@ -32,8 +31,8 @@ public class Victor extends PWMMotorController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the Victor is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the Victor 888 is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public Victor(final int channel) {

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -9,13 +11,13 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PWM;
 
 /**
- * VEX Robotics Victor SP Motor Controller.
+ * Vex Robotics Victor SP Motor Controller.
  *
- * <p>Note that the VictorSP uses the following bounds for PWM values. These values should work
+ * <p>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 VictorSP User Manual available from
- * CTRE.
+ * recommended. The calibration procedure can be found in the Victor SP User Manual available from
+ * Vex Robotics.
  *
  * <ul>
  *   <li>2.004ms = full "forward"
@@ -29,8 +31,8 @@ public class VictorSP extends PWMMotorController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on
-   *     the MXP port
+   * @param channel The PWM channel that the Victor SP is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
    */
   @SuppressWarnings("this-escape")
   public VictorSP(final int channel) {