wpilibc/athena/src/Victor.cpp

/*----------------------------------------------------------------------------*/
/* 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 "Victor.h"

#include "HAL/HAL.h"
#include "LiveWindow/LiveWindow.h"

using namespace frc;

/**
 * Constructor for a Victor.
 *
 * @param channel The PWM channel number that the Victor is attached to. 0-9
 *                are on-board, 10-19 are on the MXP port
 */
Victor::Victor(int channel) : PWMSpeedController(channel) {
  /* 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 behaviour 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.
   *
   *   2.027ms = full "forward"
   *   1.525ms = the "high end" of the deadband range
   *   1.507ms = center of the deadband range (off)
   *   1.49ms = the "low end" of the deadband range
   *   1.026ms = full "reverse"
   */
  SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
  SetPeriodMultiplier(kPeriodMultiplier_2X);
  SetSpeed(0.0);
  SetZeroLatch();

  LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
  HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
}