edu.wpi.first.wpilibj

Class Victor

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.Victor

All Implemented Interfaces:

MotorSafety, PIDOutput, Sendable, SpeedController

public class Victor
extends PWMSpeedController

VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also be used with this class but may need to be calibrated per the Victor 884 user manual.

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
Victor(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

Victor

public Victor(int channel)

Constructor.

Note that the Victor uses the following bounds for PWM values. These values were determined empirically and optimized for the Victor 888. These values should work reasonably well for Victor 884 controllers also but if users experience issues such as asymmetric behaviour around the deadband or inability to saturate the controller in either direction, calibration is recommended. The calibration procedure can be found in the Victor 884 User Manual available from VEX Robotics: http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf

- 2.027ms = full "forward" - 1.525ms = the "high end" of the deadband range - 1.507ms = center of the deadband range (off) - 1.49ms = the "low end" of the deadband range - 1.026ms = full "reverse"

Parameters:

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