mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
36 lines
1.5 KiB
C++
36 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2018 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "frc/Talon.h"
|
|
|
|
#include <hal/HAL.h>
|
|
|
|
using namespace frc;
|
|
|
|
Talon::Talon(int channel) : PWMSpeedController(channel) {
|
|
/* 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.
|
|
*
|
|
* 2.037ms = full "forward"
|
|
* 1.539ms = the "high end" of the deadband range
|
|
* 1.513ms = center of the deadband range (off)
|
|
* 1.487ms = the "low end" of the deadband range
|
|
* 0.989ms = full "reverse"
|
|
*/
|
|
SetBounds(2.037, 1.539, 1.513, 1.487, .989);
|
|
SetPeriodMultiplier(kPeriodMultiplier_1X);
|
|
SetSpeed(0.0);
|
|
SetZeroLatch();
|
|
|
|
HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
|
|
SetName("Talon", GetChannel());
|
|
}
|