Create TalonFX motor contoller file in ahal.
Identical VictorSP.
Change-Id: I94daa069291a241a968a937ac3a3dd145a15585b
diff --git a/frc971/wpilib/ahal/TalonFX.cc b/frc971/wpilib/ahal/TalonFX.cc
new file mode 100644
index 0000000..93dc62e
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+++ b/frc971/wpilib/ahal/TalonFX.cc
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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/TalonFX.h"
+
+#include "hal/HAL.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a TalonFX.
+ *
+ * @param channel The PWM channel that the TalonFX is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+TalonFX::TalonFX(int channel) : PWM(channel) {
+ /**
+ * Note that the TalonFX 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 TalonFX User
+ * Manual available from Vex.
+ *
+ * 2.004ms = full "forward"
+ * 1.52ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.48ms = the "low end" of the deadband range
+ * 0.997ms = full "reverse"
+ */
+ SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
+}
+
diff --git a/frc971/wpilib/ahal/TalonFX.h b/frc971/wpilib/ahal/TalonFX.h
new file mode 100644
index 0000000..0de0019
--- /dev/null
+++ b/frc971/wpilib/ahal/TalonFX.h
@@ -0,0 +1,23 @@
+
+/* Copyright (c) FIRST 2008-2017. 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. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc971/wpilib/ahal/PWM.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor SP Speed Controller
+ */
+class TalonFX : public PWM {
+ public:
+ explicit TalonFX(int channel);
+ virtual ~TalonFX() = default;
+};
+
+} // namespace frc