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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
20 lines
628 B
C++
20 lines
628 B
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/motorcontrol/PWMSparkMax.h"
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#include <hal/FRCUsageReporting.h>
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using namespace frc;
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PWMSparkMax::PWMSparkMax(int channel)
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: PWMMotorController("PWMSparkMax", channel) {
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m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
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m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
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m_pwm.SetSpeed(0.0);
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m_pwm.SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel() + 1);
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}
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