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¶