text: /*----------------------------------------------------------------------------*/
  /* Copyright (c) 2008-2019 FIRST. 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 the root directory of */
  /* the project.                                                               */
  /*----------------------------------------------------------------------------*/
  
  #include "frc/SD540.h"
  
  #include <hal/HAL.h>
  
  #include "frc/smartdashboard/SendableRegistry.h"
  
  using namespace frc;
  
  SD540::SD540(int channel) : PWMSpeedController(channel) {
    /* 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"
     */
    SetBounds(2.05, 1.55, 1.50, 1.44, .94);
    SetPeriodMultiplier(kPeriodMultiplier_1X);
    SetSpeed(0.0);
    SetZeroLatch();
  
    HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
    SendableRegistry::GetInstance().SetName(this, "SD540", GetChannel());
  }
  