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9dc30797e4
According to NI, 0 is unspecified, and all the indices need to be index + 1, so the first index becomes 1.
39 lines
1.6 KiB
C++
39 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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/SD540.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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SD540::SD540(int channel) : PWMSpeedController(channel) {
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/* Note that the SD540 uses the following bounds for PWM values. These values
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* should work reasonably well for most controllers, but if users experience
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* issues such as asymmetric behavior around the deadband or inability to
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* saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the SD540 User Manual available
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* from Mindsensors.
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*
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* 2.05ms = full "forward"
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* 1.55ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.44ms = the "low end" of the deadband range
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* 0.94ms = full "reverse"
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*/
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SetBounds(2.05, 1.55, 1.50, 1.44, .94);
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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_MindsensorsSD540,
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GetChannel() + 1);
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SendableRegistry::GetInstance().SetName(this, "SD540", GetChannel());
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}
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