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
005// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
006
007package edu.wpi.first.wpilibj.motorcontrol;
008
009import edu.wpi.first.hal.FRCNetComm.tResourceType;
010import edu.wpi.first.hal.HAL;
011import edu.wpi.first.wpilibj.PWM;
012
013/**
014 * Cross the Road Electronics (CTRE) Talon SRX Motor Controller.
015 *
016 * <p>Note that the Talon SRX uses the following bounds for PWM values. These values should work
017 * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
018 * around the deadband or inability to saturate the controller in either direction, calibration is
019 * recommended. The calibration procedure can be found in the Talon SRX User Manual available from
020 * Cross the Road Electronics (CTRE).
021 *
022 * <ul>
023 *   <li>2.004ms = full "forward"
024 *   <li>1.520ms = the "high end" of the deadband range
025 *   <li>1.500ms = center of the deadband range (off)
026 *   <li>1.480ms = the "low end" of the deadband range
027 *   <li>0.997ms = full "reverse"
028 * </ul>
029 */
030public class PWMTalonSRX extends PWMMotorController {
031  /**
032   * Constructor.
033   *
034   * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19
035   *     are on the MXP port
036   */
037  @SuppressWarnings("this-escape")
038  public PWMTalonSRX(final int channel) {
039    super("PWMTalonSRX", channel);
040
041    m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
042    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
043    m_pwm.setSpeed(0.0);
044    m_pwm.setZeroLatch();
045
046    HAL.report(tResourceType.kResourceType_PWMTalonSRX, getChannel() + 1);
047  }
048}