This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Victor.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Victor.cpp
new file mode 100644
index 0000000..a434769
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Victor.cpp
@@ -0,0 +1,104 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DigitalModule.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common initialization code called by all constructors.
+ *
+ * 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"
+ */
+void Victor::InitVictor() {
+ // TODO: compute the appropriate values based on digital loop timing
+ SetBounds(206, 131, 128, 125, 56);
+ SetPeriodMultiplier(kPeriodMultiplier_2X);
+ SetRaw(m_centerPwm);
+
+ LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
+ nUsageReporting::report(nUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
+}
+
+/**
+ * Constructor that assumes the default digital module.
+ *
+ * @param channel The PWM channel on the digital module that the Victor is attached to.
+ */
+Victor::Victor(UINT32 channel) : SafePWM(channel)
+{
+ InitVictor();
+}
+
+/**
+ * Constructor that specifies the digital module.
+ *
+ * @param moduleNumber The digital module (1 or 2).
+ * @param channel The PWM channel on the digital module that the Victor is attached to (1..10).
+ */
+Victor::Victor(UINT8 moduleNumber, UINT32 channel) : SafePWM(moduleNumber, channel)
+{
+ InitVictor();
+}
+
+Victor::~Victor()
+{
+}
+
+/**
+ * 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 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()
+{
+ 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);
+}
+