[wpilib] Pregenerate PWM motor controllers (#6742)

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
2026-07-03 03:01:44 +00:00 · 2024-06-18 10:43:08 -04:00
parent 66c0abb732
commit b6bd798f9e
49 changed files with 790 additions and 271 deletions
--- a/wpilibj/src/generate/pwm_motor_controller.java.jinja
+++ b/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);
+  }
+}
--- a/wpilibj/src/generate/pwm_motor_controllers.json
+++ b/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
+    }
+  }
+]
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java
+++ b/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")
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
+++ b/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) {
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java
+++ b/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) {