text: // Copyright (c) FIRST and other WPILib contributors.
  // Open Source Software; you can modify and/or share it under the terms of
  // the WPILib BSD license file in the root directory of this project.
  
  #pragma once
  
  #include "frc/motorcontrol/PWMMotorController.h"
  
  namespace frc {
  
  /**
   * Mindsensors SD540 Motor %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.
   *
   * \li 2.05ms = full "forward"
   * \li 1.55ms = the "high end" of the deadband range
   * \li 1.50ms = center of the deadband range (off)
   * \li 1.44ms = the "low end" of the deadband range
   * \li 0.94ms = full "reverse"
   */
  class SD540 : public PWMMotorController {
   public:
    /**
     * Constructor for a SD540.
     *
     * @param channel The PWM channel that the SD540 is attached to. 0-9 are
     *                on-board, 10-19 are on the MXP port
     */
    explicit SD540(int channel);
  
    SD540(SD540&&) = default;
    SD540& operator=(SD540&&) = default;
  };
  
  }  // namespace frc
  