mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
41 lines
1.7 KiB
C++
41 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "Talon.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Constructor for a Talon (original or Talon SR).
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*
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* @param channel The PWM channel number that the Talon 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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Talon::Talon(uint32_t channel) : PWMSpeedController(channel) {
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/* Note that the Talon uses the following bounds for PWM values. These values
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* should work reasonably well for most controllers, but if users experience
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* issues such as asymmetric behavior around the deadband or inability to
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* saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the Talon User Manual available
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* from CTRE.
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*
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* 2.037ms = full "forward"
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* 1.539ms = the "high end" of the deadband range
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* 1.513ms = center of the deadband range (off)
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* 1.487ms = the "low end" of the deadband range
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* 0.989ms = full "reverse"
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*/
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SetBounds(2.037, 1.539, 1.513, 1.487, .989);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
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LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
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}
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