edu.wpi.first.wpilibj

Class DMC60

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.PWM

edu.wpi.first.wpilibj.SafePWM

edu.wpi.first.wpilibj.PWMSpeedController

edu.wpi.first.wpilibj.DMC60

All Implemented Interfaces:

MotorSafety, PIDOutput, Sendable, SpeedController

public class DMC60
extends PWMSpeedController

Digilent DMC 60 Speed Controller.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

PWM.PeriodMultiplier

Field Summary

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Constructor and Description
DMC60(int channel) Constructor.

Method Summary

Methods inherited from class edu.wpi.first.wpilibj.PWMSpeedController

get, getInverted, pidWrite, set, setInverted

Methods inherited from class edu.wpi.first.wpilibj.SafePWM

disable, feed, Feed, getDescription, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotor

Methods inherited from class edu.wpi.first.wpilibj.PWM

enableDeadbandElimination, free, getChannel, getPosition, getRaw, getRawBounds, getSpeed, initSendable, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setSpeed, setZeroLatch

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.SpeedController

disable, stopMotor

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Constructor Detail

DMC60

public DMC60(int channel)

Constructor.

Note that the DMC uses the following bounds for PWM values. These values should work reasonably well for most controllers, but if users experience issues such as asymmetric behavior around the deadband or inability to saturate the controller in either direction, calibration is recommended. The calibration procedure can be found in the DMC 60 User Manual available from Digilent

- 2.004ms = full "forward" - 1.52ms = the "high end" of the deadband range - 1.50ms = center of the deadband range (off) - 1.48ms = the "low end" of the deadband range - .997ms = full "reverse"

Parameters:

channel - The PWM channel that the DMC60 is attached to. 0-9 are on-board, 10-19 are on the MXP port