Add Spark to AHAL
Change-Id: I2e184424d7739b380020a57eca0290ba0fb8b8fa
diff --git a/frc971/wpilib/ahal/Spark.cc b/frc971/wpilib/ahal/Spark.cc
new file mode 100644
index 0000000..9127931
--- /dev/null
+++ b/frc971/wpilib/ahal/Spark.cc
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 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 "frc971/wpilib/ahal/Spark.h"
+
+#include <HAL/HAL.h>
+
+using namespace frc;
+
+Spark::Spark(int channel) : PWM(channel) {
+ /* 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"
+ */
+ SetBounds(2.003, 1.55, 1.50, 1.46, .999);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
+}