Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/src/SD540.cpp b/wpilibc/athena/src/SD540.cpp
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+++ b/wpilibc/athena/src/SD540.cpp
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+/*----------------------------------------------------------------------------*/
+/* 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 "SD540.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Note that the SD540 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 SD540 User Manual available
+ * from Mindsensors.
+ *
+ * 2.05ms = full "forward"
+ * 1.55ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.44ms = the "low end" of the deadband range
+ * 0.94ms = full "reverse"
+ */
+
+/**
+ * Constructor for a SD540.
+ *
+ * @param channel The PWM channel that the SD540 is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+SD540::SD540(int channel) : PWMSpeedController(channel) {
+ SetBounds(2.05, 1.55, 1.50, 1.44, .94);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
+}