ExpansionHubPositionConstants

class wpilib.ExpansionHubPositionConstants

Bases: pybind11_object

This class contains feedback and feedforward constants for an ExpansionHub motor.

disableContinuousInput() → wpilib._wpilib.ExpansionHubPositionConstants

Disable continuous input mode.

Returns:

This object, for method chaining.

enableContinuousInput(minimumInput: SupportsFloat | SupportsIndex, maximumInput: SupportsFloat | SupportsIndex) → wpilib._wpilib.ExpansionHubPositionConstants

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters:

• minimumInput – The minimum value expected from the input.

• maximumInput – The maximum value expected from the input.

Returns:

This object, for method chaining.

setPID(p: SupportsFloat | SupportsIndex, i: SupportsFloat | SupportsIndex, d: SupportsFloat | SupportsIndex) → wpilib._wpilib.ExpansionHubPositionConstants

Sets the PID Controller gain parameters.

Set the proportional, integral, and differential coefficients.

Parameters:

• p – The proportional coefficient.

• i – The integral coefficient.

• d – The derivative coefficient.

Returns:

This object, for method chaining.

setS(s: SupportsFloat | SupportsIndex) → wpilib._wpilib.ExpansionHubPositionConstants

Sets the feed forward gains to the specified values.

The units should be radians for angular systems and meters for linear systems.

The motor control period is 10ms

Parameters:

s – The static gain in volts.

Returns:

This object, for method chaining.