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https://github.com/wpilibsuite/allwpilib
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44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 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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#pragma once
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#include "frc/PWMSpeedController.h"
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namespace frc {
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/**
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* Playing with Fusion Venom Smart Motor with PWM control.
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*
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* Note that the Venom 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.
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*
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* \li 2.004ms = full "forward"
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* \li 1.520ms = the "high end" of the deadband range
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* \li 1.500ms = center of the deadband range (off)
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* \li 1.480ms = the "low end" of the deadband range
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* \li 0.997ms = full "reverse"
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*/
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class PWMVenom : public PWMSpeedController {
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public:
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/**
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* Construct a Venom connected via PWM.
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*
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* @param channel The PWM channel that the Venom 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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explicit PWMVenom(int channel);
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PWMVenom(PWMVenom&&) = default;
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PWMVenom& operator=(PWMVenom&&) = default;
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};
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} // namespace frc
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