001/*----------------------------------------------------------------------------*/
002/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
003/* Open Source Software - may be modified and shared by FRC teams. The code   */
004/* must be accompanied by the FIRST BSD license file in the root directory of */
005/* the project.                                                               */
006/*----------------------------------------------------------------------------*/
007
008package edu.wpi.first.wpilibj;
009
010import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
011import edu.wpi.first.wpilibj.communication.UsageReporting;
012import edu.wpi.first.wpilibj.livewindow.LiveWindow;
013
014/**
015 * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
016 */
017public class Talon extends SafePWM implements SpeedController {
018
019    /**
020     * Common initialization code called by all constructors.
021     *
022     * Note that the Talon uses the following bounds for PWM values. These values should work reasonably well for
023     * most controllers, but if users experience issues such as asymmetric behavior around
024     * the deadband or inability to saturate the controller in either direction, calibration is recommended.
025     * The calibration procedure can be found in the Talon User Manual available from CTRE.
026     *
027     *   - 2.037ms = full "forward"
028     *   - 1.539ms = the "high end" of the deadband range
029     *   - 1.513ms = center of the deadband range (off)
030     *   - 1.487ms = the "low end" of the deadband range
031     *   - .989ms = full "reverse"
032     */
033    private void initTalon() {
034        setBounds(2.037, 1.539, 1.513, 1.487, .989);
035        setPeriodMultiplier(PeriodMultiplier.k1X);
036        setRaw(m_centerPwm);
037                setZeroLatch();
038
039        LiveWindow.addActuator("Talon", getChannel(), this);
040        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
041    }
042
043    /**
044     * Constructor for a Talon (original or Talon SR)
045     *
046     * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on the MXP port
047     */
048    public Talon(final int channel) {
049        super(channel);
050        initTalon();
051    }
052
053    /**
054     * Set the PWM value.
055     *
056     * @deprecated For compatibility with CANJaguar
057     *
058     * The PWM value is set using a range of -1.0 to 1.0, appropriately
059     * scaling the value for the FPGA.
060     *
061     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
062     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
063     */
064    public void set(double speed, byte syncGroup) {
065        setSpeed(speed);
066        Feed();
067    }
068
069    /**
070     * Set the PWM value.
071     *
072     * The PWM value is set using a range of -1.0 to 1.0, appropriately
073     * scaling the value for the FPGA.
074     *
075     * @param speed The speed value between -1.0 and 1.0 to set.
076     */
077    public void set(double speed) {
078        setSpeed(speed);
079        Feed();
080    }
081
082    /**
083     * Get the recently set value of the PWM.
084     *
085     * @return The most recently set value for the PWM between -1.0 and 1.0.
086     */
087    public double get() {
088        return getSpeed();
089    }
090
091    /**
092     * Write out the PID value as seen in the PIDOutput base object.
093     *
094     * @param output Write out the PWM value as was found in the PIDController
095     */
096    public void pidWrite(double output) {
097        set(output);
098    }
099}