Talon.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
#pragma once
 
#include "wpi/hardware/motor/PWMMotorController.hpp"
 
namespace wpi {
 
/**
 * Cross the Road Electronics (CTRE) Talon Motor Controller with PWM control.
 *
 * 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 Cross the Road Electronics (CTRE).
 *
 * \li 2.037ms = full "forward"
 * \li 1.539ms = the "high end" of the deadband range
 * \li 1.513ms = center of the deadband range (off)
 * \li 1.487ms = the "low end" of the deadband range
 * \li 0.989ms = full "reverse"
 */
class Talon : public PWMMotorController {
 public:
  /**
   * Constructor for a Talon connected via PWM.
   *
   * @param channel The PWM channel that the Talon is attached to. 0-9 are
   *                on-board, 10-19 are on the MXP port
   */
  explicit Talon(int channel);
 
  Talon(Talon&&) = default;
  Talon& operator=(Talon&&) = default;
};
 
}  // namespace wpi