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 SP Speed Controller.
016 */
017public class VictorSP extends PWMSpeedController {
018
019  /**
020   * Constructor.
021   *
022   * <p>Note that the VictorSP uses the following bounds for PWM values. These values should work
023   * reasonably well for most controllers, but if users experience issues such as asymmetric
024   * behavior around the deadband or inability to saturate the controller in either direction,
025   * calibration is recommended. The calibration procedure can be found in the VictorSP User Manual
026   * available from CTRE.
027   *
028   * <p>- 2.004ms = full "forward" - 1.52ms = the "high end" of the deadband range - 1.50ms =
029   * center of the deadband range (off) - 1.48ms = the "low end" of the deadband range - .997ms =
030   * full "reverse"
031   *
032   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
033   *        on-board, 10-19 are on the MXP port
034   */
035  public VictorSP(final int channel) {
036    super(channel);
037
038    setBounds(2.004, 1.52, 1.50, 1.48, .997);
039    setPeriodMultiplier(PeriodMultiplier.k1X);
040    setSpeed(0.0);
041    setZeroLatch();
042
043    LiveWindow.addActuator("VictorSP", getChannel(), this);
044    HAL.report(tResourceType.kResourceType_VictorSP, getChannel());
045  }
046}