[Jeremy Germita]

Also on a side note what happens when you feed a victor .set method with a value greater then 1? Does it just auto round down to 1?

This is the Victor.set(double speed) method:

/**
     * Set the PWM value.
     *
     * The PWM value is set using a range of -1.0 to 1.0, appropriately
     * scaling the value for the FPGA.
     *
     * @param speed The speed value between -1.0 and 1.0 to set.
     */
    public void set(double speed) {
        setSpeed(speed);
    }

It calls this method from the PWM class:

/**
     * Set the PWM value based on a speed.
     *
     * This is intended to be used by speed controllers.
     *
     * @pre SetMaxPositivePwm() called.
     * @pre SetMinPositivePwm() called.
     * @pre SetCenterPwm() called.
     * @pre SetMaxNegativePwm() called.
     * @pre SetMinNegativePwm() called.
     *
     * @param speed The speed to set the speed controller between -1.0 and 1.0.
     */
    final void setSpeed(double speed) {
       // clamp speed to be in the range 1.0 >= speed >= -1.0
        if (speed < -1.0) {
            speed = -1.0;
        } else if (speed > 1.0) {
            speed = 1.0;
        }
        // calculate the desired output pwm value by scaling the speed appropriately
        int rawValue;
        if (speed == 0.0) {
            rawValue = getCenterPwm();
        } else if (speed > 0.0) {
            rawValue = (int) (speed * ((double)getPositiveScaleFactor()) +
                              ((double)getMinPositivePwm()) + 0.5);
        } else {
            rawValue = (int) (speed * ((double)getNegativeScaleFactor()) +
                              ((double)getMaxNegativePwm()) + 0.5);
        }

        // send the computed pwm value to the FPGA
        setRaw(rawValue);
    }

As you can see from the part I have colored green, it automatically clamps values from -1 to +1. Giving it any value lower or higher will set it to full speed reverse/forward.

-Jeremy