# validated: 2016-11-26 DS e44a6e227a89 athena/java/edu/wpi/first/wpilibj/VictorSP.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__ = ["VictorSP"]
[docs]class VictorSP(PWMSpeedController):
"""
VEX Robotics Victor SP Speed Controller via PWM
"""
def __init__(self, channel):
"""Constructor.
:param channel: The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on the MXP port.
:type channel: int
.. note ::
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 VictorSP User Manual.
- 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"
"""
super().__init__(channel)
self.setBounds(2.004, 1.52, 1.50, 1.48, .997)
self.setPeriodMultiplier(self.PeriodMultiplier.k1X)
self.setSpeed(0)
self.setZeroLatch()
LiveWindow.addActuatorChannel("VictorSP", self.getChannel(), self)
hal.report(hal.UsageReporting.kResourceType_VictorSP,
self.getChannel())