Package edu.wpi.first.wpilibj.motorcontrol

Class PWMTalonSRX

java.lang.Object
edu.wpi.first.wpilibj.MotorSafety
edu.wpi.first.wpilibj.motorcontrol.PWMMotorController
edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX
All Implemented Interfaces:
Sendable, MotorController, SpeedController, AutoCloseable
public class PWMTalonSRX
extends PWMMotorController
Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control.

Note that the TalonSRX 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 TalonSRX User Manual available from CTRE.

  • 2.004ms = full "forward"
  • 1.520ms = the "high end" of the deadband range
  • 1.500ms = center of the deadband range (off)
  • 1.480ms = the "low end" of the deadband range
  • 0.997ms = full "reverse"

  • Constructor Details

    • PWMTalonSRX

      public PWMTalonSRX​(int channel)
      Constructor for a TalonSRX connected via PWM.
      Parameters:
      channel - The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 are on the MXP port