WPILibC++ 2024.3.1
PWMTalonSRX.h
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1// Copyright (c) FIRST and other WPILib contributors.
2// Open Source Software; you can modify and/or share it under the terms of
3// the WPILib BSD license file in the root directory of this project.
4
5#pragma once
6
8
9namespace frc {
10
11/**
12 * Cross the Road Electronics (CTRE) %Talon SRX Motor %Controller with PWM
13 * control.
14 *
15 * Note that the %Talon SRX uses the following bounds for PWM values. These
16 * values should work reasonably well for most controllers, but if users
17 * experience issues such as asymmetric behavior around the deadband or
18 * inability to saturate the controller in either direction, calibration is
19 * recommended. The calibration procedure can be found in the %Talon SRX User
20 * Manual available from Cross The Road Electronics.
21 *
22 * \li 2.004ms = full "forward"
23 * \li 1.520ms = the "high end" of the deadband range
24 * \li 1.500ms = center of the deadband range (off)
25 * \li 1.480ms = the "low end" of the deadband range
26 * \li 0.997ms = full "reverse"
27 */
29 public:
30 /**
31 * Construct a %Talon SRX connected via PWM.
32 *
33 * @param channel The PWM channel that the %Talon SRX is attached to. 0-9 are
34 * on-board, 10-19 are on the MXP port
35 */
36 explicit PWMTalonSRX(int channel);
37
40};
41
42} // namespace frc
Common base class for all PWM Motor Controllers.
Definition: PWMMotorController.h:35
Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control.
Definition: PWMTalonSRX.h:28
PWMTalonSRX(PWMTalonSRX &&)=default
PWMTalonSRX & operator=(PWMTalonSRX &&)=default
PWMTalonSRX(int channel)
Construct a Talon SRX connected via PWM.
Definition: AprilTagDetector_cv.h:11