wpilibc/sim/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 "LiveWindow/LiveWindow.h"

using namespace frc;

/**
 * @param channel The PWM channel that the Victor is attached to.
 */
Victor::Victor(int channel) : SafePWM(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 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"
   */

  SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
  SetPeriodMultiplier(kPeriodMultiplier_2X);
  SetRaw(m_centerPwm);

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

/**
 * 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.
 */
void Victor::Set(double speed) { 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.
 */
double Victor::Get() const { 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(double output) { Set(output); }