| Brian Silverman | 41cdd3e | 2019-01-19 19:48:58 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "frc/Jaguar.h" |
| 9 | |
| 10 | #include <hal/HAL.h> |
| 11 | |
| 12 | using namespace frc; |
| 13 | |
| 14 | Jaguar::Jaguar(int channel) : PWMSpeedController(channel) { |
| 15 | /* Input profile defined by Luminary Micro. |
| 16 | * |
| 17 | * Full reverse ranges from 0.671325ms to 0.6972211ms |
| 18 | * Proportional reverse ranges from 0.6972211ms to 1.4482078ms |
| 19 | * Neutral ranges from 1.4482078ms to 1.5517922ms |
| 20 | * Proportional forward ranges from 1.5517922ms to 2.3027789ms |
| 21 | * Full forward ranges from 2.3027789ms to 2.328675ms |
| 22 | */ |
| 23 | SetBounds(2.31, 1.55, 1.507, 1.454, .697); |
| 24 | SetPeriodMultiplier(kPeriodMultiplier_1X); |
| 25 | SetSpeed(0.0); |
| 26 | SetZeroLatch(); |
| 27 | |
| 28 | HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel()); |
| 29 | SetName("Jaguar", GetChannel()); |
| 30 | } |