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9550777b9d
This cleans up the user experience by removing lower-level functions from the interface. Also remove MotorSafety from "raw" PWM.
20 lines
600 B
C++
20 lines
600 B
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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#include "frc/SD540.h"
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#include <hal/FRCUsageReporting.h>
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using namespace frc;
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SD540::SD540(int channel) : PWMSpeedController("SD540", channel) {
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m_pwm.SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
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m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
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m_pwm.SetSpeed(0.0);
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m_pwm.SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540,
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GetChannel() + 1);
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}
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