Source code for wpilib.jaguar

# validated: 2016-11-26 DS 247cef5ec215 athena/java/edu/wpi/first/wpilibj/Jaguar.java
#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. 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.
#----------------------------------------------------------------------------

import hal

from .livewindow import LiveWindow
from .pwmspeedcontroller import PWMSpeedController

__all__ = ["Jaguar"]

[docs]class Jaguar(PWMSpeedController): """ Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device. """ def __init__(self, channel): """Constructor. :param channel: The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on the MXP port """ super().__init__(channel) # Input profile defined by Luminary Micro. # # Full reverse ranges from 0.671325ms to 0.6972211ms # Proportional reverse ranges from 0.6972211ms to 1.4482078ms # Neutral ranges from 1.4482078ms to 1.5517922ms # Proportional forward ranges from 1.5517922ms to 2.3027789ms # Full forward ranges from 2.3027789ms to 2.328675ms self.setBounds(2.31, 1.55, 1.507, 1.454, 0.697) self.setPeriodMultiplier(self.PeriodMultiplier.k1X) self.setSpeed(0) self.setZeroLatch() hal.report(hal.UsageReporting.kResourceType_Jaguar, self.getChannel()) LiveWindow.addActuatorChannel("Jaguar", self.getChannel(), self)