Package edu.wpi.first.wpilibj

Class SD540

java.lang.Object
edu.wpi.first.wpilibj.MotorSafety
edu.wpi.first.wpilibj.PWM
edu.wpi.first.wpilibj.PWMSpeedController
edu.wpi.first.wpilibj.SD540
All Implemented Interfaces:
PIDOutput, Sendable, SpeedController, AutoCloseable
public class SD540
extends PWMSpeedController
Mindsensors SD540 Speed Controller.

Note that the SD540 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 SD540 User Manual available from Mindsensors.

  • 2.05ms = full "forward"
  • 1.55ms = the "high end" of the deadband range
  • 1.50ms = center of the deadband range (off)
  • 1.44ms = the "low end" of the deadband range
  • 0.94ms = full "reverse"

  • Constructor Details

    • SD540

      public SD540​(int channel)
      Constructor.
      Parameters:
      channel - The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19 are on the MXP port

  • Method Details

    • initSD540

      protected void initSD540()
      Common initialization code called by all constructors.