Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/Jaguar.cpp b/wpilibc/Athena/src/Jaguar.cpp
new file mode 100644
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--- /dev/null
+++ b/wpilibc/Athena/src/Jaguar.cpp
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Jaguar.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Constructor for a Jaguar connected via PWM
+ * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) {
+ /**
+ * Input profile defined by Luminary Micro.
+ *
+ * Full reverse ranges from 0.671325ms to 0.6972211ms
+ * Proportional reverse ranges from 0.6972211ms to 1.4482078ms
+ * Neutral ranges from 1.4482078ms to 1.5517922ms
+ * Proportional forward ranges from 1.5517922ms to 2.3027789ms
+ * Full forward ranges from 2.3027789ms to 2.328675ms
+ */
+ SetBounds(2.31, 1.55, 1.507, 1.454, .697);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetRaw(m_centerPwm);
+ SetZeroLatch();
+
+ HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
+}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ * @param syncGroup Unused interface.
+ */
+void Jaguar::Set(float speed, uint8_t syncGroup) {
+ SetSpeed(m_isInverted ? -speed : speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float Jaguar::Get() const { return GetSpeed(); }
+
+/**
+ * Common interface for disabling a motor.
+ */
+void Jaguar::Disable() { SetRaw(kPwmDisabled); }
+
+/**
+* Common interface for inverting direction of a speed controller.
+* @param isInverted The state of inversion, true is inverted.
+*/
+void Jaguar::SetInverted(bool isInverted) { m_isInverted = isInverted; }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool Jaguar::GetInverted() const { return m_isInverted; }
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void Jaguar::PIDWrite(float output) { Set(output); }