PWMSim¶
- class wpilib.simulation.PWMSim(*args, **kwargs)¶
Bases:
pybind11_object
Class to control a simulated PWM output.
Overloaded function.
__init__(self: wpilib.simulation._simulation.PWMSim, pwm: wpilib._wpilib.PWM) -> None
Constructs from a PWM object.
- Parameters:
pwm – PWM to simulate
__init__(self: wpilib.simulation._simulation.PWMSim, motorctrl: wpilib._wpilib.PWMMotorController) -> None
Constructs from a PWMMotorController object.
- Parameters:
motorctrl – PWMMotorController to simulate
__init__(self: wpilib.simulation._simulation.PWMSim, channel: int) -> None
Constructs from a PWM channel number.
- Parameters:
channel – Channel number
- getInitialized() bool ¶
Check whether the PWM has been initialized.
- Returns:
true if initialized
- getPeriodScale() int ¶
Get the PWM period scale.
- Returns:
the PWM period scale
- getPosition() float ¶
Get the PWM position.
- Returns:
the PWM position (0.0 to 1.0)
- getRawValue() int ¶
Get the PWM raw value.
- Returns:
the PWM raw value
- getSpeed() float ¶
Get the PWM speed.
- Returns:
the PWM speed (-1.0 to 1.0)
- getZeroLatch() bool ¶
Check whether the PWM is zero latched.
- Returns:
true if zero latched
- registerInitializedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when the PWM is initialized.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial state
- Returns:
the CallbackStore object associated with this callback
- registerPeriodScaleCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when the PWM period scale changes.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial value
- Returns:
the CallbackStore object associated with this callback
- registerPositionCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when the PWM position changes.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial value
- Returns:
the CallbackStore object associated with this callback
- registerRawValueCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when the PWM raw value changes.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial value
- Returns:
the CallbackStore object associated with this callback
- registerSpeedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when the PWM speed changes.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial value
- Returns:
the CallbackStore object associated with this callback
- registerZeroLatchCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when the PWM zero latch state changes.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial state
- Returns:
the CallbackStore object associated with this callback
- resetData() None ¶
Reset all simulation data.
- setInitialized(initialized: bool) None ¶
Define whether the PWM has been initialized.
- Parameters:
initialized – whether this object is initialized
- setPeriodScale(periodScale: int) None ¶
Set the PWM period scale.
- Parameters:
periodScale – the PWM period scale
- setPosition(position: float) None ¶
Set the PWM position.
- Parameters:
position – the PWM position (0.0 to 1.0)
- setRawValue(rawValue: int) None ¶
Set the PWM raw value.
- Parameters:
rawValue – the PWM raw value
- setSpeed(speed: float) None ¶
Set the PWM speed.
- Parameters:
speed – the PWM speed (-1.0 to 1.0)
- setZeroLatch(zeroLatch: bool) None ¶
Define whether the PWM has been zero latched.
- Parameters:
zeroLatch – true to indicate zero latched