Victor.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 "Victor.h"
#include "DigitalModule.h"

void Victor::InitVictor()
{
        // TODO: compute the appropriate values based on digital loop timing
        SetBounds(210, 138, 132, 126, 56);
        SetPeriodMultiplier(kPeriodMultiplier_2X);
        SetRaw(m_centerPwm);
}

Victor::Victor(UINT32 channel) : SafePWM(channel)
{
        InitVictor();
}

Victor::Victor(UINT8 moduleNumber, UINT32 channel) : SafePWM(moduleNumber, channel)
{
        InitVictor();
}

Victor::~Victor()
{
}

void Victor::Set(float speed, UINT8 syncGroup)
{
        SetSpeed(speed);
}

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

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

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