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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
42 lines
1.3 KiB
C++
42 lines
1.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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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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* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
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*
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* Note that the Talon uses the following bounds for PWM values. These values
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* should work reasonably well for most controllers, but if users experience
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* issues such as asymmetric behavior around the deadband or inability to
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* saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the Talon User Manual available
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* from CTRE.
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*
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* \li 2.037ms = full "forward"
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* \li 1.539ms = the "high end" of the deadband range
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* \li 1.513ms = center of the deadband range (off)
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* \li 1.487ms = the "low end" of the deadband range
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* \li 0.989ms = full "reverse"
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*/
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class Talon : public PWMSpeedController {
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public:
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/**
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* Constructor for a Talon (original or Talon SR).
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*
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* @param channel The PWM channel number that the Talon 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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explicit Talon(int channel);
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Talon(Talon&&) = default;
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Talon& operator=(Talon&&) = default;
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};
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} // namespace frc
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