Spark.h

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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.
 
#pragma once
 
#include "frc/motorcontrol/PWMMotorController.h"
 
namespace frc {
 
/**
 * REV Robotics SPARK Motor %Controller.
 *
 * Note that the SPARK 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 SPARK User Manual available
 * from REV Robotics.
 *
 * \li 2.003ms = full "forward"
 * \li 1.550ms = the "high end" of the deadband range
 * \li 1.500ms = center of the deadband range (off)
 * \li 1.460ms = the "low end" of the deadband range
 * \li 0.999ms = full "reverse"
 */
class Spark : public PWMMotorController {
 public:
  /**
   * Constructor for a SPARK.
   *
   * @param channel The PWM channel that the SPARK is attached to. 0-9 are
   *                on-board, 10-19 are on the MXP port
   */
  explicit Spark(int channel);
 
  Spark(Spark&&) = default;
  Spark& operator=(Spark&&) = default;
};
 
}  // namespace frc