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https://github.com/wpilibsuite/allwpilib
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31 lines
1.1 KiB
C++
31 lines
1.1 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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#include "frc/PWMSparkMax.h"
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#include <hal/HAL.h>
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using namespace frc;
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PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
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/* Note that the SparkMax uses the following bounds for PWM values.
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*
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* 2.003ms = 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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* 1.46ms = the "low end" of the deadband range
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* 0.999ms = full "reverse"
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*/
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SetBounds(2.003, 1.55, 1.50, 1.46, .999);
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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_RevSparkMaxPWM, GetChannel());
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SetName("PWMSparkMax", GetChannel());
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}
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