WPILibC++ 2024.3.1
Talon.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 and %Talon SR Motor %Controller.
13 *
14 * Note that the %Talon 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 %Talon User Manual available
19 * from CTRE.
20 *
21 * \li 2.037ms = full "forward"
22 * \li 1.539ms = the "high end" of the deadband range
23 * \li 1.513ms = center of the deadband range (off)
24 * \li 1.487ms = the "low end" of the deadband range
25 * \li 0.989ms = full "reverse"
26 */
27class Talon : public PWMMotorController {
28 public:
29 /**
30 * Constructor for a %Talon (original or %Talon SR).
31 *
32 * @param channel The PWM channel number that the %Talon is attached to. 0-9
33 * are on-board, 10-19 are on the MXP port
34 */
35 explicit Talon(int channel);
36
37 Talon(Talon&&) = default;
38 Talon& operator=(Talon&&) = default;
39};
40
41} // namespace frc
Common base class for all PWM Motor Controllers.
Definition: PWMMotorController.h:35
Cross the Road Electronics (CTRE) Talon and Talon SR Motor Controller.
Definition: Talon.h:27
Talon(Talon &&)=default
Talon(int channel)
Constructor for a Talon (original or Talon SR).
Talon & operator=(Talon &&)=default
Definition: AprilTagDetector_cv.h:11