mirror of
https://github.com/wpilibsuite/allwpilib
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43 lines
1.7 KiB
C++
43 lines
1.7 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 "Talon.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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* 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(int 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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SetSpeed(0.0);
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SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
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LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
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}
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