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
005package edu.wpi.first.wpilibj.romi;
006
007import edu.wpi.first.wpilibj.PWM;
008import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
009
010/**
011 * RomiMotor.
012 *
013 * <p>A general use PWM motor controller representing the motors on a Romi robot
014 */
015public class RomiMotor extends PWMMotorController {
016  /** Common initialization code called by all constructors. */
017  protected final void initRomiMotor() {
018    m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
019    setSpeed(0.0);
020  }
021
022  /**
023   * Constructor.
024   *
025   * @param channel The PWM channel that the RomiMotor is attached to. 0 is the left motor, 1 is the
026   *     right.
027   */
028  @SuppressWarnings("this-escape")
029  public RomiMotor(final int channel) {
030    super("Romi Motor", channel);
031    initRomiMotor();
032  }
033}