Update PWM scaling for wpilibsuite/allwpilib#5283 (#2277)

Author: sciencewhiz

source/docs/software/hardware-apis/motors/pwm-controllers.rst

@@ -15,7 +15,7 @@ The PWM signal the controllers use for an input is a little bit different. Even
 Raw vs Scaled output values
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-In general, all of the motor controller classes in WPILib take a scaled -1.0 to 1.0 value as the output to an actuator. The PWM module in the FPGA on the roboRIO is capable of generating PWM signals with periods of 5, 10, or 20ms and can vary the pulse width in 2000 steps of ~.001ms each around the midpoint (1000 steps in each direction around the midpoint). The raw values sent to this module are in this 0-2000 range with 0 being a special case which holds the signal low (disabled). The class for each motor controller contains information about what the typical bound values (min, max and each side of the deadband) are as well as the typical midpoint. WPILib can then use these values to map the scaled value into the proper range for the motor controller. This allows for the code to switch seamlessly between different types of controllers and abstracts out the details of the specific signaling.
+In general, all of the motor controller classes in WPILib take a scaled -1.0 to 1.0 value as the output to an actuator. The PWM module in the FPGA on the roboRIO is capable of generating PWM signals with periods of 5, 10, or 20ms and can vary the pulse width in 4096 steps of 1us each . The raw values sent to this module are in this 0-4096 range with 0 being a special case which holds the signal low (disabled). The class for each motor controller contains information about what the typical bound values (min, max and each side of the deadband) are as well as the typical midpoint. WPILib can then use these values to map the scaled value into the proper range for the motor controller. This allows for the code to switch seamlessly between different types of controllers and abstracts out the details of the specific signaling.
 
 Calibrating Motor Controllers
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