/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "VictorSP.h"

#include "LiveWindow/LiveWindow.h"

/**
 * Note that the VictorSP uses the following bounds for PWM values. These values
 * should work reasonably well for
 * most controllers, but if users experience issues such as asymmetric behavior
 * around
 * the deadband or inability to saturate the controller in either direction,
 * calibration is recommended.
 * The calibration procedure can be found in the VictorSP User Manual available
 * from Vex.
 *
 *   2.004ms = full "forward"
 *   1.52ms = the "high end" of the deadband range
 *   1.50ms = center of the deadband range (off)
 *   1.48ms = the "low end" of the deadband range
 *   0.997ms = full "reverse"
 */

/**
 * Constructor for a VictorSP
 * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
 * on-board, 10-19 are on the MXP port
 */
VictorSP::VictorSP(uint32_t channel) : PWMSpeedController(channel) {
  SetBounds(2.004, 1.52, 1.50, 1.48, .997);
  SetPeriodMultiplier(kPeriodMultiplier_1X);
  SetRaw(m_centerPwm);
  SetZeroLatch();

  HALReport(HALUsageReporting::kResourceType_VictorSP, GetChannel());
  LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
}