Talon.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "Talon.h"

#include "DigitalModule.h"
#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"

void Talon::InitTalon() {
        SetBounds(2.037, 1.539, 1.513, 1.487, .989);
        SetPeriodMultiplier(kPeriodMultiplier_2X);
        SetRaw(m_centerPwm);

        nUsageReporting::report(nUsageReporting::kResourceType_Talon, GetChannel(), GetModuleNumber() - 1);
        LiveWindow::GetInstance()->AddActuator("Talon", GetModuleNumber(), GetChannel(), this);
}

Talon::Talon(uint32_t channel) : SafePWM(channel)
{
        InitTalon();
}

Talon::Talon(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
        InitTalon();
}

Talon::~Talon()
{
}

void Talon::Set(float speed, uint8_t syncGroup)
{
        SetSpeed(speed);
}

float Talon::Get()
{
        return GetSpeed();
}

void Talon::Disable()
{
        SetRaw(kPwmDisabled);
}

void Talon::PIDWrite(float output) 
{
        Set(output);
}