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0abf6c9045
Also deprecate SpeedController in favor of motorcontrol.MotorController and SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup. The MotorController interface is derived from the SpeedController interface so that code such as SpeedController x = new VictorSP(1) continues to compile (just with a warning). SpeedControllerGroup and MotorControllerGroup are independent classes; both implement the MotorController interface.
43 lines
1.4 KiB
C++
43 lines
1.4 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/motorcontrol/PWMMotorController.h"
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namespace frc {
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/**
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* Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM
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* control.
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*
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* Note that the Talon FX uses the following bounds for PWM values. These
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* values should work reasonably well for most controllers, but if users
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* experience issues such as asymmetric behavior around the deadband or
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* inability to saturate the controller in either direction, calibration is
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* recommended. The calibration procedure can be found in the Talon FX User
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* Manual available from Cross The Road Electronics.
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*
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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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*/
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class PWMTalonFX : public PWMMotorController {
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public:
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/**
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* Construct a Talon FX connected via PWM.
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*
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* @param channel The PWM channel that the Talon FX is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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explicit PWMTalonFX(int channel);
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PWMTalonFX(PWMTalonFX&&) = default;
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PWMTalonFX& operator=(PWMTalonFX&&) = default;
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};
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} // namespace frc
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