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/simulation/src/Talon.cpp b/wpilibc/simulation/src/Talon.cpp
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+++ b/wpilibc/simulation/src/Talon.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 "Talon.h"
+
+//#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * @param channel The PWM channel that the Talon is attached to.
+ */
+Talon::Talon(uint32_t channel) : SafePWM(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.
+ *
+ * - 211 = full "forward"
+ * - 133 = the "high end" of the deadband range
+ * - 129 = center of the deadband range (off)
+ * - 125 = the "low end" of the deadband range
+ * - 49 = full "reverse"
+ */
+ SetBounds(2.037, 1.539, 1.513, 1.487, .989);
+ SetPeriodMultiplier(kPeriodMultiplier_2X);
+ SetRaw(m_centerPwm);
+
+ LiveWindow::GetInstance()->AddActuator("Talon", 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 Talon::Set(float speed, uint8_t syncGroup)
+{
+ SetSpeed(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 Talon::Get() const
+{
+ return GetSpeed();
+}
+
+/**
+ * Common interface for disabling a motor.
+ */
+void Talon::Disable()
+{
+ SetRaw(kPwmDisabled);
+}
+
+/**
+ * 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 Talon::PIDWrite(float output)
+{
+ Set(output);
+}