001/*----------------------------------------------------------------------------*/ 002/* Copyright (c) FIRST 2008-2017. 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.hal.FRCNetComm.tResourceType; 011import edu.wpi.first.wpilibj.hal.HAL; 012import edu.wpi.first.wpilibj.livewindow.LiveWindow; 013 014/** 015 * VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also 016 * be used with this class but may need to be calibrated per the Victor 884 user manual. 017 */ 018public class Victor extends PWMSpeedController { 019 020 /** 021 * Constructor. 022 * 023 * <p>Note that the Victor uses the following bounds for PWM values. These values were determined 024 * empirically and optimized for the Victor 888. These values should work reasonably well for 025 * Victor 884 controllers also but if users experience issues such as asymmetric behaviour around 026 * the deadband or inability to saturate the controller in either direction, calibration is 027 * recommended. The calibration procedure can be found in the Victor 884 User Manual available 028 * from VEX Robotics: http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf 029 * 030 * <p>- 2.027ms = full "forward" - 1.525ms = the "high end" of the deadband range - 1.507ms = 031 * center of the deadband range (off) - 1.49ms = the "low end" of the deadband range - 1.026ms = 032 * full "reverse" 033 * 034 * @param channel The PWM channel that the Victor is attached to. 0-9 are 035 * on-board, 10-19 are on the MXP port 036 */ 037 public Victor(final int channel) { 038 super(channel); 039 040 setBounds(2.027, 1.525, 1.507, 1.49, 1.026); 041 setPeriodMultiplier(PeriodMultiplier.k2X); 042 setSpeed(0.0); 043 setZeroLatch(); 044 045 LiveWindow.addActuator("Victor", getChannel(), this); 046 HAL.report(tResourceType.kResourceType_Victor, getChannel()); 047 } 048}