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https://github.com/wpilibsuite/allwpilib
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43 lines
1.7 KiB
C++
43 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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 "Victor.h"
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#include <HAL/HAL.h>
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using namespace frc;
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/**
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* Constructor for a Victor.
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*
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* @param channel The PWM channel number that the Victor is attached to. 0-9
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* are on-board, 10-19 are on the MXP port
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*/
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Victor::Victor(int 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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SetSpeed(0.0);
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SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
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SetName("Victor", GetChannel());
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}
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