mirror of
https://github.com/wpilibsuite/allwpilib
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94843adb8f
Some were in constructor docs, some in init function docs, and some inline in code. Move them all to class docs.
50 lines
2.0 KiB
Java
50 lines
2.0 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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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package edu.wpi.first.wpilibj;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
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/**
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* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
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*
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* <p>Note that the TalonSRX uses the following bounds for PWM values. These values should work
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* reasonably well for most controllers, but if users experience issues such as asymmetric
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* behavior around the deadband or inability to saturate the controller in either direction,
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* calibration is recommended. The calibration procedure can be found in the TalonSRX User Manual
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* available from CTRE.
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*
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* <p><ul>
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* <li>2.004ms = full "forward"
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* <li>1.520ms = the "high end" of the deadband range
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* <li>1.500ms = center of the deadband range (off)
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* <li>1.480ms = the "low end" of the deadband range
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* <li>0.997ms = full "reverse"
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* </ul>
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*/
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public class PWMTalonSRX extends PWMSpeedController {
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/**
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* Constructor for a TalonSRX connected via PWM.
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*
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* @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 are
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* on the MXP port
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*/
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public PWMTalonSRX(final int channel) {
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super(channel);
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setBounds(2.004, 1.52, 1.50, 1.48, .997);
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setPeriodMultiplier(PeriodMultiplier.k1X);
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setSpeed(0.0);
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setZeroLatch();
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HAL.report(tResourceType.kResourceType_PWMTalonSRX, getChannel() + 1);
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SendableRegistry.setName(this, "PWMTalonSRX", getChannel());
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}
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}
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