ExpansionHubServo

class wpilib.ExpansionHubServo(usbId: SupportsInt | SupportsIndex, channel: SupportsInt | SupportsIndex)

Bases: pybind11_object

This class controls a specific servo in positional/servo mode hooked up to an ExpansionHub.

Constructs a servo at the requested channel on a specific USB port.

@sa ExpansionHubCRServo if the servo is in continuous rotation mode

Parameters:

  • usbId – The USB port ID the hub is connected to

  • channel – The servo channel

isHubConnected() → bool

Gets if the underlying ExpansionHub is connected.

Returns:

True if hub is connected, otherwise false

setAngle(angle: wpimath.units.degrees) → None

Sets the servo angle.

Servo angles range defaults to 0 to 180 degrees, but can be changed with setAngleRange().

Parameters:

angle – Position in angle units. Will be clamped to be within the current angle range.

setAngleRange(minAngle: wpimath.units.degrees, maxAngle: wpimath.units.degrees) → None

Sets the angle range for the SetAngle call. By default, this is 0 to 180 degrees.

Maximum angle must be greater than minimum angle.

Parameters:

  • minAngle – Minimum angle

  • maxAngle – Maximum angle

setEnabled(enabled: bool) → None

Sets if the servo output is enabled or not. Defaults to false.

Parameters:

enabled – True to enable, false to disable

setFramePeriod(framePeriod: wpimath.units.microseconds) → None

Sets the frame period for the servo. Defaults to 20ms.

Parameters:

framePeriod – The frame period

setPWMRange(minPwm: wpimath.units.microseconds, maxPwm: wpimath.units.microseconds) → None

Sets the PWM range for the servo. By default, this is 600 to 2400 microseconds.

Maximum must be greater than minimum.

Parameters:

  • minPwm – Minimum PWM

  • maxPwm – Maximum PWM

setPosition(value: SupportsFloat | SupportsIndex) → None

Set the servo position.

Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.

Parameters:

value – Position from 0.0 to 1.0.

setPulseWidth(pulseWidth: wpimath.units.microseconds) → None

Sets the raw pulse width output on the servo.

Parameters:

pulseWidth – Pulse width

setReversed(reversed: bool) → None

Sets whether the servo is reversed.

This will reverse both SetPosition() and SetAngle().

Parameters:

reversed – True to reverse, false for normal