Package edu.wpi.first.wpilibj.motorcontrol

Class Talon

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

Note that the Talon 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 Talon User Manual available from CTRE.

  • 2.037ms = full "forward"
  • 1.539ms = the "high end" of the deadband range
  • 1.513ms = center of the deadband range (off)
  • 1.487ms = the "low end" of the deadband range
  • 0.989ms = full "reverse"

  • Constructor Details

    • Talon

      public Talon​(int channel)
      Constructor for a Talon (original or Talon SR).
      Parameters:
      channel - The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on the MXP port