WPILibC++ 2024.3.1
Spark.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 * REV Robotics SPARK Motor %Controller.
13 *
14 * Note that the SPARK uses the following bounds for PWM values. These values
15 * should work reasonably well for most controllers, but if users experience
16 * issues such as asymmetric behavior around the deadband or inability to
17 * saturate the controller in either direction, calibration is recommended.
18 * The calibration procedure can be found in the SPARK User Manual available
19 * from REV Robotics.
20 *
21 * \li 2.003ms = full "forward"
22 * \li 1.550ms = the "high end" of the deadband range
23 * \li 1.500ms = center of the deadband range (off)
24 * \li 1.460ms = the "low end" of the deadband range
25 * \li 0.999ms = full "reverse"
26 */
27class Spark : public PWMMotorController {
28 public:
29 /**
30 * Constructor for a SPARK.
31 *
32 * @param channel The PWM channel that the SPARK is attached to. 0-9 are
33 * on-board, 10-19 are on the MXP port
34 */
35 explicit Spark(int channel);
36
37 Spark(Spark&&) = default;
38 Spark& operator=(Spark&&) = default;
39};
40
41} // namespace frc
Common base class for all PWM Motor Controllers.
Definition: PWMMotorController.h:35
REV Robotics SPARK Motor Controller.
Definition: Spark.h:27
Spark(int channel)
Constructor for a SPARK.
Spark(Spark &&)=default
Spark & operator=(Spark &&)=default
Definition: AprilTagDetector_cv.h:11