WPILibC++ 2024.3.1
PWMVenom.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 * Playing with Fusion Venom Smart Motor with PWM control.
13 *
14 * Note that the Venom uses the following bounds for PWM values. These
15 * values should work reasonably well for most controllers, but if users
16 * experience issues such as asymmetric behavior around the deadband or
17 * inability to saturate the controller in either direction, calibration is
18 * recommended.
19 *
20 * \li 2.004ms = full "forward"
21 * \li 1.520ms = the "high end" of the deadband range
22 * \li 1.500ms = center of the deadband range (off)
23 * \li 1.480ms = the "low end" of the deadband range
24 * \li 0.997ms = full "reverse"
25 */
27 public:
28 /**
29 * Construct a Venom connected via PWM.
30 *
31 * @param channel The PWM channel that the Venom is attached to. 0-9 are
32 * on-board, 10-19 are on the MXP port
33 */
34 explicit PWMVenom(int channel);
35
36 PWMVenom(PWMVenom&&) = default;
38};
39
40} // namespace frc
Common base class for all PWM Motor Controllers.
Definition: PWMMotorController.h:35
Playing with Fusion Venom Smart Motor with PWM control.
Definition: PWMVenom.h:26
PWMVenom(int channel)
Construct a Venom connected via PWM.
PWMVenom(PWMVenom &&)=default
PWMVenom & operator=(PWMVenom &&)=default
Definition: AprilTagDetector_cv.h:11