mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
46 lines
1.7 KiB
C++
46 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2017 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 "Spark.h"
|
|
|
|
#include <HAL/HAL.h>
|
|
|
|
#include "LiveWindow/LiveWindow.h"
|
|
|
|
using namespace frc;
|
|
|
|
/**
|
|
* Note that the Spark 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 Spark User Manual available
|
|
* from REV Robotics.
|
|
*
|
|
* 2.003ms = full "forward"
|
|
* 1.55ms = the "high end" of the deadband range
|
|
* 1.50ms = center of the deadband range (off)
|
|
* 1.46ms = the "low end" of the deadband range
|
|
* 0.999ms = full "reverse"
|
|
*/
|
|
|
|
/**
|
|
* Constructor for a Spark.
|
|
*
|
|
* @param channel The PWM channel that the Spark is attached to. 0-9 are
|
|
* on-board, 10-19 are on the MXP port
|
|
*/
|
|
Spark::Spark(int channel) : PWMSpeedController(channel) {
|
|
SetBounds(2.003, 1.55, 1.50, 1.46, .999);
|
|
SetPeriodMultiplier(kPeriodMultiplier_1X);
|
|
SetSpeed(0.0);
|
|
SetZeroLatch();
|
|
|
|
HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
|
|
LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
|
|
}
|