001// Copyright (c) FIRST and other WPILib contributors. 002// Open Source Software; you can modify and/or share it under the terms of 003// the WPILib BSD license file in the root directory of this project. 004 005// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY 006 007package edu.wpi.first.wpilibj.motorcontrol; 008 009import edu.wpi.first.hal.HAL; 010import edu.wpi.first.wpilibj.PWM; 011 012/** 013 * REV Robotics SPARKMini Motor Controller. 014 * 015 * <p>Note that the SPARKMini uses the following bounds for PWM values. These values should work 016 * reasonably well for most controllers, but if users experience issues such as asymmetric behavior 017 * around the deadband or inability to saturate the controller in either direction, calibration is 018 * recommended. The calibration procedure can be found in the SPARKMini User Manual available from 019 * REV Robotics. 020 * 021 * <ul> 022 * <li>2.500ms = full "forward" 023 * <li>1.510ms = the "high end" of the deadband range 024 * <li>1.500ms = center of the deadband range (off) 025 * <li>1.490ms = the "low end" of the deadband range 026 * <li>0.500ms = full "reverse" 027 * </ul> 028 */ 029public class SparkMini extends PWMMotorController { 030 /** 031 * Constructor. 032 * 033 * @param channel The PWM channel that the SPARKMini is attached to. 0-9 are on-board, 10-19 034 * are on the MXP port 035 */ 036 @SuppressWarnings("this-escape") 037 public SparkMini(final int channel) { 038 super("SparkMini", channel); 039 040 setBoundsMicroseconds(2500, 1510, 1500, 1490, 500); 041 m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); 042 setSpeed(0.0); 043 044 HAL.reportUsage("IO", getChannel(), "RevSPARK"); 045 } 046}