frc971/wpilib/ahal/Talon.cc

/*----------------------------------------------------------------------------*/
/* 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 "frc971/wpilib/ahal/Talon.h"

#include "hal/HAL.h"

using namespace frc;

/**
 * Constructor for a Talon (original or Talon SR).
 *
 * @param channel The PWM channel number that the Talon is attached to. 0-9 are
 *                on-board, 10-19 are on the MXP port
 */
Talon::Talon(int channel) : PWM(channel) {
  /* Note that the Talon 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 Talon User Manual available
   * from CTRE.
   *
   *   2.037ms = full "forward"
   *   1.539ms = the "high end" of the deadband range
   *   1.513ms = center of the deadband range (off)
   *   1.487ms = the "low end" of the deadband range
   *   0.989ms = full "reverse"
   */
  SetBounds(2.037, 1.539, 1.513, 1.487, .989);
  SetPeriodMultiplier(kPeriodMultiplier_1X);
  SetSpeed(0.0);
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
}