Package edu.wpi.first.wpilibj
Class Talon
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- All Implemented Interfaces:
MotorSafety
,PIDOutput
,Sendable
,SpeedController
,AutoCloseable
public class Talon extends PWMSpeedController
Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
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Nested Class Summary
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Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM
PWM.PeriodMultiplier
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Field Summary
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Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety
DEFAULT_SAFETY_EXPIRATION
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Constructor Summary
Constructors Constructor Description Talon(int channel)
Constructor for a Talon (original or Talon SR).
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Method Summary
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Methods inherited from class edu.wpi.first.wpilibj.PWMSpeedController
get, getDescription, getInverted, initSendable, pidWrite, set, setInverted
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Methods inherited from class edu.wpi.first.wpilibj.SafePWM
disable, feed, Feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotor
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Methods inherited from class edu.wpi.first.wpilibj.PWM
close, enableDeadbandElimination, getChannel, getPosition, getRaw, getRawBounds, getSpeed, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setSpeed, setZeroLatch
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Methods inherited from class edu.wpi.first.wpilibj.SendableBase
addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem
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Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj.SpeedController
disable, stopMotor
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Constructor Detail
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Talon
public Talon(int channel)
Constructor for a Talon (original or Talon SR).Note that 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 Talon User Manual available from CTRE.
- 2.037ms = full "forward" - 1.539ms = the "high end" of the deadband range - 1.513ms = center of the deadband range (off) - 1.487ms = the "low end" of the deadband range - .989ms = full "reverse"
- Parameters:
channel
- The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on the MXP port
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