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0f228e7b7d
There was a lot of duplicated code between all 7 PWM speed controllers. This moves all the duplicated code down to a base class, that will make it easier to add speed controllers in future years if needed again. Also if we need to add a method to all speed controllers, we only have to do it in 1 place, and not 7. Change-Id: I25eb1d097c0f5f7dbd7656db2f4a30d006d50f98
40 lines
1.7 KiB
C++
40 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "Victor.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Constructor for a Victor
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* @param channel The PWM channel number that the Victor is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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Victor::Victor(uint32_t channel) : PWMSpeedController(channel) {
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/* Note that the Victor uses the following bounds for PWM values. These
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* values were determined empirically and optimized for the Victor 888. These
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* values should work reasonably well for Victor 884 controllers as well but
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* if users experience issues such as asymmetric behaviour around the deadband
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* or inability to saturate the controller in either direction, calibration is
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* recommended. The calibration procedure can be found in the Victor 884 User
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* Manual available from IFI.
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*
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* 2.027ms = full "forward"
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* 1.525ms = the "high end" of the deadband range
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* 1.507ms = center of the deadband range (off)
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* 1.49ms = the "low end" of the deadband range
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* 1.026ms = full "reverse"
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*/
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SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
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SetPeriodMultiplier(kPeriodMultiplier_2X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
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HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
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}
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