mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
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.
41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include "frc/motorcontrol/PWMMotorController.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Playing with Fusion Venom Smart Motor with PWM control.
|
|
*
|
|
* Note that the Venom uses the following bounds for PWM values. These
|
|
* values should work reasonably well for most controllers, but if users
|
|
* experience issues such as asymmetric behavior around the deadband or
|
|
* inability to saturate the controller in either direction, calibration is
|
|
* recommended.
|
|
*
|
|
* \li 2.004ms = full "forward"
|
|
* \li 1.520ms = the "high end" of the deadband range
|
|
* \li 1.500ms = center of the deadband range (off)
|
|
* \li 1.480ms = the "low end" of the deadband range
|
|
* \li 0.997ms = full "reverse"
|
|
*/
|
|
class PWMVenom : public PWMMotorController {
|
|
public:
|
|
/**
|
|
* Construct a Venom connected via PWM.
|
|
*
|
|
* @param channel The PWM channel that the Venom is attached to. 0-9 are
|
|
* on-board, 10-19 are on the MXP port
|
|
*/
|
|
explicit PWMVenom(int channel);
|
|
|
|
PWMVenom(PWMVenom&&) = default;
|
|
PWMVenom& operator=(PWMVenom&&) = default;
|
|
};
|
|
|
|
} // namespace frc
|