ExpansionHubVelocityConstants

class wpilib.ExpansionHubVelocityConstants

Bases: pybind11_object

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

setFF(s: SupportsFloat | SupportsIndex, v: SupportsFloat | SupportsIndex, a: SupportsFloat | SupportsIndex) → wpilib._wpilib.ExpansionHubVelocityConstants

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.

• v – The velocity gain in volts per unit per second.

• a – The acceleration gain in volts per unit per second squared.

Returns:

This object, for method chaining.

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

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.