PIDMotorController¶
- class commands1.PIDMotorController(motorController: wpilib.interfaces._interfaces.MotorController)¶
Bases:
commands1._impl._commands_v1.command.PIDOutput
,wpilib.interfaces._interfaces.MotorController
,wpiutil._wpiutil.Sendable
Wrapper so that PIDOutput is implemented for MotorController for old PIDController
This class is provided by the OldCommands VendorDep
- Deprecated
Use frc2::PIDController class instead which doesn’t require this wrapper.
- PIDWrite(output: float) None ¶
- disable() None ¶
- get() float ¶
Get the recently set value of the PWM. This value is affected by the inversion property. If you want the value that is sent directly to the MotorController, use PWM::GetSpeed() instead.
- Returns
The most recently set value for the PWM between -1.0 and 1.0.
- getInverted() bool ¶
- set(value: float) None ¶
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.
- Parameters
value – The speed value between -1.0 and 1.0 to set.
- setInverted(isInverted: bool) None ¶
- stopMotor() None ¶