wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/Victor.html
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<h2 title="Class Victor" class="title">Class Victor</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SensorBase</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.PWM</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SafePWM</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.PWMSpeedController</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.Victor</li>
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<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a>, <a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDOutput.html" title="interface in edu.wpi.first.wpilibj">PIDOutput</a>, <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></dd>
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<pre>public class <span class="typeNameLabel">Victor</span>
extends <a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html" title="class in edu.wpi.first.wpilibj">PWMSpeedController</a></pre>
<div class="block">VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also
be used with this class but may need to be calibrated per the Victor 884 user manual.</div>
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<h3>Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.PeriodMultiplier.html" title="enum in edu.wpi.first.wpilibj">PWM.PeriodMultiplier</a></code></li>
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<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></code></li>
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<code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#DEFAULT_SAFETY_EXPIRATION">DEFAULT_SAFETY_EXPIRATION</a></code></li>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colOne" scope="col">Constructor and Description</th>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Victor.html#Victor-int-">Victor</a></span>(int channel)</code>
<div class="block">Constructor.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html" title="class in edu.wpi.first.wpilibj">PWMSpeedController</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#get--">get</a>, <a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#getInverted--">getInverted</a>, <a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#pidWrite-double-">pidWrite</a>, <a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#set-double-">set</a>, <a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#setInverted-boolean-">setInverted</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SafePWM.html" title="class in edu.wpi.first.wpilibj">SafePWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#disable--">disable</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#feed--">feed</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#Feed--">Feed</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#getDescription--">getDescription</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#getExpiration--">getExpiration</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#isAlive--">isAlive</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#isSafetyEnabled--">isSafetyEnabled</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#setExpiration-double-">setExpiration</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#setSafetyEnabled-boolean-">setSafetyEnabled</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#stopMotor--">stopMotor</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#enableDeadbandElimination-boolean-">enableDeadbandElimination</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#free--">free</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getChannel--">getChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getPosition--">getPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRaw--">getRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRawBounds--">getRawBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSmartDashboardType--">getSmartDashboardType</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSpeed--">getSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setBounds-double-double-double-double-double-">setBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setDisabled--">setDisabled</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPeriodMultiplier-edu.wpi.first.wpilibj.PWM.PeriodMultiplier-">setPeriodMultiplier</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPosition-double-">setPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setRaw-int-">setRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setSpeed-double-">setSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setZeroLatch--">setZeroLatch</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#startLiveWindowMode--">startLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#stopLiveWindowMode--">stopLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#updateTable--">updateTable</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#disable--">disable</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#stopMotor--">stopMotor</a></code></li>
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<h4>Victor</h4>
<pre>public Victor(int channel)</pre>
<div class="block">Constructor.
<p>Note that the Victor uses the following bounds for PWM values. These values were determined
empirically and optimized for the Victor 888. These values should work reasonably well for
Victor 884 controllers also but if users experience issues such as asymmetric behaviour around
the deadband or inability to saturate the controller in either direction, calibration is
recommended. The calibration procedure can be found in the Victor 884 User Manual available
from VEX Robotics: http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf
<p>- 2.027ms = full "forward" - 1.525ms = the "high end" of the deadband range - 1.507ms =
center of the deadband range (off) - 1.49ms = the "low end" of the deadband range - 1.026ms =
full "reverse"</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The PWM channel that the Victor is attached to. 0-9 are
on-board, 10-19 are on the MXP port</dd>
</dl>
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