CANVenom

class playingwithfusion.CANVenom(motorID: SupportsInt | SupportsIndex)

Bases: MotorSafety, MotorController, Sendable

class BrakeCoastMode(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Members:

kCoast

kBrake

kBrake = <BrakeCoastMode.kBrake: 1>

kCoast = <BrakeCoastMode.kCoast: 0>

CANVenom.BrakeCoastMode.name -> str

property value

class ControlMode(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Members:

kDisabled

kProportional

kCurrentControl

kSpeedControl

kPositionControl

kMotionProfile

kFollowTheLeader

kVoltageControl

kCurrentControl = <ControlMode.kCurrentControl: 3>

kDisabled = <ControlMode.kDisabled: 0>

kFollowTheLeader = <ControlMode.kFollowTheLeader: 7>

kMotionProfile = <ControlMode.kMotionProfile: 6>

kPositionControl = <ControlMode.kPositionControl: 5>

kProportional = <ControlMode.kProportional: 1>

kSpeedControl = <ControlMode.kSpeedControl: 4>

kVoltageControl = <ControlMode.kVoltageControl: 8>

CANVenom.ControlMode.name -> str

property value

class FaultFlag(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Members:

kNone

kNoHeartbeat

kNoLeaderHeartbeat

kBadLeaderID

kHighTemperature

kHighCurrent

kBadMode

kDuplicateID

kForwardLimit

kReverseLimit

kReset

kBadLeaderID = <FaultFlag.kBadLeaderID: 4>

kBadMode = <FaultFlag.kBadMode: 32>

kDuplicateID = <FaultFlag.kDuplicateID: 64>

kForwardLimit = <FaultFlag.kForwardLimit: 128>

kHighCurrent = <FaultFlag.kHighCurrent: 16>

kHighTemperature = <FaultFlag.kHighTemperature: 8>

kNoHeartbeat = <FaultFlag.kNoHeartbeat: 1>

kNoLeaderHeartbeat = <FaultFlag.kNoLeaderHeartbeat: 2>

kNone = <FaultFlag.kNone: 0>

kReset = <FaultFlag.kReset: 512>

kReverseLimit = <FaultFlag.kReverseLimit: 256>

CANVenom.FaultFlag.name -> str

property value

class MotionProfileState(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Members:

kInit

kRunning

kErrBufferCleared

kErrBufferUnderflow

kErrBufferInvalid

kDone

kDone = <MotionProfileState.kDone: 5>

kErrBufferCleared = <MotionProfileState.kErrBufferCleared: 2>

kErrBufferInvalid = <MotionProfileState.kErrBufferInvalid: 4>

kErrBufferUnderflow = <MotionProfileState.kErrBufferUnderflow: 3>

kInit = <MotionProfileState.kInit: 0>

kRunning = <MotionProfileState.kRunning: 1>

CANVenom.MotionProfileState.name -> str

property value

PIDWrite(output: SupportsFloat | SupportsIndex) → None

addMotionProfilePoint(time: SupportsFloat | SupportsIndex, speed: SupportsFloat | SupportsIndex, position: SupportsFloat | SupportsIndex) → None

clearLatchedFaults() → None

clearMotionProfilePoints() → None

completeMotionProfilePath(time: SupportsFloat | SupportsIndex, position: SupportsFloat | SupportsIndex) → None

disable() → None

enable() → None

enableLimitSwitches(fwdLimitSwitchEnabled: bool, revLimitSwitchEnabled: bool) → None

executePath() → None

follow(leadVenom: playingwithfusion._playingwithfusion.CANVenom) → None

get() → float

getActiveControlMode() → playingwithfusion._playingwithfusion.CANVenom.ControlMode

getActiveFaults() → playingwithfusion._playingwithfusion.CANVenom.FaultFlag

getAuxVoltage() → float

getB() → float

getBrakeCoastMode() → playingwithfusion._playingwithfusion.CANVenom.BrakeCoastMode

getBusVoltage() → float

getControlMode() → playingwithfusion._playingwithfusion.CANVenom.ControlMode

getCurrentMotionProfilePoint() → int

getDescription() → str

getDutyCycle() → float

getFirmwareVersion() → int

getFwdLimitSwitchActive() → bool

getInverted() → bool

getKD() → float

getKF() → float

getKI() → float

getKP() → float

getLatchedFaults() → playingwithfusion._playingwithfusion.CANVenom.FaultFlag

getMaxAcceleration() → float

getMaxJerk() → float

getMaxPILimit() → float

getMaxSpeed() → float

getMinPILimit() → float

getMotionProfileIsValid() → bool

getMotionProfilePositionTarget() → float

getMotionProfileSpeedTarget() → float

getMotionProfileState() → playingwithfusion._playingwithfusion.CANVenom.MotionProfileState

getNumAvaliableMotionProfilePoints() → int

getOutputCurrent() → float

getOutputVoltage() → float

getPIDTarget() → float

getPosition() → float

getRevLimitSwitchActive() → bool

getSerialNumber() → int

getSpeed() → float

getTemperature() → float

identifyMotor() → None

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None

resetPosition() → None

set(command: SupportsFloat | SupportsIndex) → None

setB(b: SupportsFloat | SupportsIndex) → None

setBrakeCoastMode(brakeCoastMode: playingwithfusion._playingwithfusion.CANVenom.BrakeCoastMode) → None

setCommand(*args, **kwargs)

Overloaded function.

setCommand(self: playingwithfusion._playingwithfusion.CANVenom, mode: playingwithfusion._playingwithfusion.CANVenom.ControlMode, command: typing.SupportsFloat | typing.SupportsIndex) -> None
setCommand(self: playingwithfusion._playingwithfusion.CANVenom, mode: playingwithfusion._playingwithfusion.CANVenom.ControlMode, command: typing.SupportsFloat | typing.SupportsIndex, kF: typing.SupportsFloat | typing.SupportsIndex, b: typing.SupportsFloat | typing.SupportsIndex) -> None

setControlMode(controlMode: playingwithfusion._playingwithfusion.CANVenom.ControlMode) → None

setInverted(isInverted: bool) → None

setKD(kD: SupportsFloat | SupportsIndex) → None

setKF(kF: SupportsFloat | SupportsIndex) → None

setKI(kI: SupportsFloat | SupportsIndex) → None

setKP(kP: SupportsFloat | SupportsIndex) → None

setMaxAcceleration(limit: SupportsFloat | SupportsIndex) → None

setMaxJerk(limit: SupportsFloat | SupportsIndex) → None

setMaxPILimit(limit: SupportsFloat | SupportsIndex) → None

setMaxSpeed(limit: SupportsFloat | SupportsIndex) → None

setMinPILimit(limit: SupportsFloat | SupportsIndex) → None

setPID(kP: SupportsFloat | SupportsIndex, kI: SupportsFloat | SupportsIndex, kD: SupportsFloat | SupportsIndex, kF: SupportsFloat | SupportsIndex, b: SupportsFloat | SupportsIndex) → None

setPosition(newPosition: SupportsFloat | SupportsIndex) → None

stopMotor() → None