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/Victor.cpp b/wpilibc/simulation/src/Victor.cpp
new file mode 100644
index 0000000..54ba61f
--- /dev/null
+++ b/wpilibc/simulation/src/Victor.cpp
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Victor.h"
+
+//#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * @param channel The PWM channel that the Victor is attached to.
+ */
+Victor::Victor(uint32_t channel) : SafePWM(channel)
+{
+ /* Note that the Victor uses the following bounds for PWM values. These values
+ * were determined empirically and optimized for the Victor 888. These values
+ * should work reasonably well for Victor 884 controllers as well 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 Victor 884 User
+ * Manual available from IFI.
+ *
+ * - 206 = full "forward"
+ * - 131 = the "high end" of the deadband range
+ * - 128 = center of the deadband range (off)
+ * - 125 = the "low end" of the deadband range
+ * - 56 = full "reverse"
+ */
+
+ SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+ SetPeriodMultiplier(kPeriodMultiplier_2X);
+ SetRaw(m_centerPwm);
+
+ LiveWindow::GetInstance()->AddActuator("Victor", 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 Victor::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 Victor::Get() const
+{
+ return GetSpeed();
+}
+
+/**
+ * Common interface for disabling a motor.
+ */
+void Victor::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 Victor::PIDWrite(float output)
+{
+ Set(output);
+}