mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
9dc30797e4
According to NI, 0 is unspecified, and all the indices need to be index + 1, so the first index becomes 1.
33 lines
1.2 KiB
C++
33 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "frc/PWMSparkMax.h"
|
|
|
|
#include <hal/HAL.h>
|
|
|
|
#include "frc/smartdashboard/SendableRegistry.h"
|
|
|
|
using namespace frc;
|
|
|
|
PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
|
|
/* Note that the SparkMax uses the following bounds for PWM values.
|
|
*
|
|
* 2.003ms = full "forward"
|
|
* 1.55ms = the "high end" of the deadband range
|
|
* 1.50ms = center of the deadband range (off)
|
|
* 1.46ms = the "low end" of the deadband range
|
|
* 0.999ms = full "reverse"
|
|
*/
|
|
SetBounds(2.003, 1.55, 1.50, 1.46, .999);
|
|
SetPeriodMultiplier(kPeriodMultiplier_1X);
|
|
SetSpeed(0.0);
|
|
SetZeroLatch();
|
|
|
|
HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel() + 1);
|
|
SendableRegistry::GetInstance().SetName(this, "PWMSparkMax", GetChannel());
|
|
}
|