mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
94843adb8f
Some were in constructor docs, some in init function docs, and some inline in code. Move them all to class docs.
45 lines
1.6 KiB
C++
45 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2019 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include "frc/PWMSpeedController.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
|
|
*
|
|
* Note that the Talon 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.
|
|
* The calibration procedure can be found in the Talon User Manual available
|
|
* from CTRE.
|
|
*
|
|
* \li 2.037ms = full "forward"
|
|
* \li 1.539ms = the "high end" of the deadband range
|
|
* \li 1.513ms = center of the deadband range (off)
|
|
* \li 1.487ms = the "low end" of the deadband range
|
|
* \li 0.989ms = full "reverse"
|
|
*/
|
|
class Talon : public PWMSpeedController {
|
|
public:
|
|
/**
|
|
* Constructor for a Talon (original or Talon SR).
|
|
*
|
|
* @param channel The PWM channel number that the Talon is attached to. 0-9
|
|
* are on-board, 10-19 are on the MXP port
|
|
*/
|
|
explicit Talon(int channel);
|
|
|
|
Talon(Talon&&) = default;
|
|
Talon& operator=(Talon&&) = default;
|
|
};
|
|
|
|
} // namespace frc
|