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0abf6c9045
Also deprecate SpeedController in favor of motorcontrol.MotorController and SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup. The MotorController interface is derived from the SpeedController interface so that code such as SpeedController x = new VictorSP(1) continues to compile (just with a warning). SpeedControllerGroup and MotorControllerGroup are independent classes; both implement the MotorController interface.
42 lines
1.3 KiB
C++
42 lines
1.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include "frc/motorcontrol/PWMMotorController.h"
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namespace frc {
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/**
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* REV Robotics SPARK Motor Controller.
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*
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* Note that the SPARK 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 SPARK User Manual available
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* from REV Robotics.
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*
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* \li 2.003ms = full "forward"
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* \li 1.550ms = the "high end" of the deadband range
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* \li 1.500ms = center of the deadband range (off)
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* \li 1.460ms = the "low end" of the deadband range
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* \li 0.999ms = full "reverse"
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*/
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class Spark : public PWMMotorController {
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public:
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/**
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* Constructor for a SPARK.
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*
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* @param channel The PWM channel that the SPARK 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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explicit Spark(int channel);
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Spark(Spark&&) = default;
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Spark& operator=(Spark&&) = default;
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};
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} // namespace frc
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