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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.
19 lines
594 B
C++
19 lines
594 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/motorcontrol/Talon.h"
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#include <hal/FRCUsageReporting.h>
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using namespace frc;
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Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
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m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
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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_Talon, GetChannel() + 1);
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}
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