edu.wpi.first.wpilibj

## Class VictorSP

- java.lang.Object
- - edu.wpi.first.wpilibj.SensorBase
  - - edu.wpi.first.wpilibj.PWM
    - - edu.wpi.first.wpilibj.SafePWM
      - - edu.wpi.first.wpilibj.PWMSpeedController
        - - edu.wpi.first.wpilibj.VictorSP

- All Implemented Interfaces:
    LiveWindowSendable, MotorSafety, PIDOutput, Sendable, SpeedController

      public class VictorSP
      extends PWMSpeedController

  VEX Robotics Victor SP Speed Controller.

- - ### Nested Class Summary

    - ### Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

      `PWM.PeriodMultiplier`

  - ### Field Summary

    - ### Fields inherited from class edu.wpi.first.wpilibj.SensorBase

      `kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond`

    - ### Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

      `DEFAULT_SAFETY_EXPIRATION`

  - ### Constructor Summary

    Constructors
    Constructor and Description
    `VictorSP(int channel)` Constructor.

  - ### Method Summary

    - ### Methods inherited from class edu.wpi.first.wpilibj.PWMSpeedController

      `get, getInverted, pidWrite, set, setInverted`

    - ### Methods inherited from class edu.wpi.first.wpilibj.SafePWM

      `disable, feed, Feed, getDescription, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotor`

    - ### Methods inherited from class edu.wpi.first.wpilibj.PWM

      `enableDeadbandElimination, free, getChannel, getPosition, getRaw, getRawBounds, getSmartDashboardType, getSpeed, initTable, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setSpeed, setZeroLatch, startLiveWindowMode, stopLiveWindowMode, updateTable`

    - ### Methods inherited from class edu.wpi.first.wpilibj.SensorBase

      `checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule`

    - ### Methods inherited from class java.lang.Object

      `clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

    - ### Methods inherited from interface edu.wpi.first.wpilibj.SpeedController

      `disable, stopMotor`

- - ### Constructor Detail

    - #### VictorSP

          public VictorSP(int channel)

      Constructor.

      Note that the VictorSP 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 VictorSP User Manual available from CTRE.

      - 2.004ms = full "forward" - 1.52ms = the "high end" of the deadband range - 1.50ms = center of the deadband range (off) - 1.48ms = the "low end" of the deadband range - .997ms = full "reverse"

      Parameters:
        `channel` - The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on the MXP port