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0abf6c9045
Also deprecate SpeedController in favor of motorcontrol.MotorController and SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup. The MotorController interface is derived from the SpeedController interface so that code such as SpeedController x = new VictorSP(1) continues to compile (just with a warning). SpeedControllerGroup and MotorControllerGroup are independent classes; both implement the MotorController interface.
20 lines
625 B
C++
20 lines
625 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/PWMTalonSRX.h"
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#include <hal/FRCUsageReporting.h>
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using namespace frc;
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PWMTalonSRX::PWMTalonSRX(int channel)
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: PWMMotorController("PWMTalonSRX", channel) {
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m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
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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_PWMTalonSRX, GetChannel() + 1);
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}
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