Added ahal
This is a formatted copy of WPILib's default user-visible C++ API, with
a bit of completely unnecessary functionality stripped out. Most of the
stripping so far is only related to weird threading decisions.
Change-Id: Icbfd949b48cd115561862cb909bcc572aba0e753
diff --git a/frc971/wpilib/ahal/Talon.cc b/frc971/wpilib/ahal/Talon.cc
new file mode 100644
index 0000000..40d8a77
--- /dev/null
+++ b/frc971/wpilib/ahal/Talon.cc
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* 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/Talon.h"
+
+#include "HAL/HAL.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a Talon (original or Talon SR).
+ *
+ * @param channel The PWM channel number that the Talon is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Talon::Talon(int channel) : PWM(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.
+ *
+ * 2.037ms = full "forward"
+ * 1.539ms = the "high end" of the deadband range
+ * 1.513ms = center of the deadband range (off)
+ * 1.487ms = the "low end" of the deadband range
+ * 0.989ms = full "reverse"
+ */
+ SetBounds(2.037, 1.539, 1.513, 1.487, .989);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
+}