-
Notifications
You must be signed in to change notification settings - Fork 607
/
Jaguar.java
49 lines (44 loc) · 1.89 KB
/
Jaguar.java
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
*
* <p>Note that the Jaguar 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 Jaguar User Manual
* available from Vex.
*
* <p><ul>
* <li>2.310ms = full "forward"
* <li>1.550ms = the "high end" of the deadband range
* <li>1.507ms = center of the deadband range (off)
* <li>1.454ms = the "low end" of the deadband range
* <li>0.697ms = full "reverse"
* </ul>
*/
public class Jaguar extends PWMSpeedController {
/**
* Constructor.
*
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
* the MXP port
*/
public Jaguar(final int channel) {
super(channel);
setBounds(2.31, 1.55, 1.507, 1.454, 0.697);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
HAL.report(tResourceType.kResourceType_Jaguar, getChannel() + 1);
SendableRegistry.setName(this, "Jaguar", getChannel());
}
}