| James Kuszmaul | 4f3ad3c | 2019-12-01 16:35:21 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2019 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/PWMSparkMax.h" |
| 9 | |
| 10 | #include <hal/HAL.h> |
| 11 | |
| 12 | #include "frc/smartdashboard/SendableRegistry.h" |
| 13 | |
| 14 | using namespace frc; |
| 15 | |
| 16 | PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) { |
| 17 | /* Note that the SparkMax uses the following bounds for PWM values. |
| 18 | * |
| 19 | * 2.003ms = full "forward" |
| 20 | * 1.55ms = the "high end" of the deadband range |
| 21 | * 1.50ms = center of the deadband range (off) |
| 22 | * 1.46ms = the "low end" of the deadband range |
| 23 | * 0.999ms = full "reverse" |
| 24 | */ |
| 25 | SetBounds(2.003, 1.55, 1.50, 1.46, .999); |
| 26 | SetPeriodMultiplier(kPeriodMultiplier_1X); |
| 27 | SetSpeed(0.0); |
| 28 | SetZeroLatch(); |
| 29 | |
| 30 | HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel()); |
| 31 | SendableRegistry::GetInstance().SetName(this, "PWMSparkMax", GetChannel()); |
| 32 | } |