mirror of
https://github.com/wpilibsuite/allwpilib
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43 lines
1.8 KiB
C++
43 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 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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#include "PWMTalonSRX.h"
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#include <HAL/HAL.h>
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#include "LiveWindow/LiveWindow.h"
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using namespace frc;
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/**
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* Construct a PWMTalonSRX connected via PWM.
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*
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* @param channel The PWM channel that the PWMTalonSRX 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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PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
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/* Note that the PWMTalonSRX 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 TalonSRX User
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* Manual available from Cross The Road Electronics.
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* 2.004ms = full "forward"
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* 1.52ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.48ms = the "low end" of the deadband range
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* 0.997ms = full "reverse"
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*/
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SetBounds(2.004, 1.52, 1.50, 1.48, .997);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetSpeed(0.0);
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SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
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LiveWindow::GetInstance()->AddActuator("PWMTalonSRX", GetChannel(), this);
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}
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