001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj.motorcontrol;
006
007import edu.wpi.first.hal.FRCNetComm.tResourceType;
008import edu.wpi.first.hal.HAL;
009import edu.wpi.first.wpilibj.PWM;
010
011/**
012 * Texas Instruments / Vex Robotics Jaguar Motor Controller as a PWM device.
013 *
014 * <p>Note that the Jaguar uses the following bounds for PWM values. These values should work
015 * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
016 * around the deadband or inability to saturate the controller in either direction, calibration is
017 * recommended. The calibration procedure can be found in the Jaguar User Manual available from Vex.
018 *
019 * <ul>
020 *   <li>2.310ms = full "forward"
021 *   <li>1.550ms = the "high end" of the deadband range
022 *   <li>1.507ms = center of the deadband range (off)
023 *   <li>1.454ms = the "low end" of the deadband range
024 *   <li>0.697ms = full "reverse"
025 * </ul>
026 */
027public class Jaguar extends PWMMotorController {
028  /**
029   * Constructor.
030   *
031   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
032   *     the MXP port
033   */
034  @SuppressWarnings("this-escape")
035  public Jaguar(final int channel) {
036    super("Jaguar", channel);
037
038    m_pwm.setBoundsMicroseconds(2310, 1550, 1507, 1454, 697);
039    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
040    m_pwm.setSpeed(0.0);
041    m_pwm.setZeroLatch();
042
043    HAL.report(tResourceType.kResourceType_Jaguar, getChannel() + 1);
044  }
045}