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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
35 lines
1.5 KiB
C++
35 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/PWMTalonSRX.h"
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#include <hal/HAL.h>
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using namespace frc;
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PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
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/* Note that the PWMTalonSRX uses the following bounds for PWM values. These
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* values should work reasonably well for most controllers, but if users
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* experience issues such as asymmetric behavior around the deadband or
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* inability to saturate the controller in either direction, calibration is
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* recommended. The calibration procedure can be found in the TalonSRX User
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* Manual available from Cross The Road Electronics.
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* 2.004ms = full "forward"
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* 1.52ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.48ms = the "low end" of the deadband range
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* 0.997ms = full "reverse"
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*/
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SetBounds(2.004, 1.52, 1.50, 1.48, .997);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetSpeed(0.0);
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SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
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SetName("PWMTalonSRX", GetChannel());
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}
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