MotorController

class wpilib.MotorController

Bases: pybind11_object

Interface for motor controlling devices.

disable() → None

Disables the motor controller.

getInverted() → bool

Gets the inversion state of the motor controller.

Returns:

The inversion state.

getThrottle() → float

Gets the throttle of the motor controller.

Returns:

The throttle where -1 represents full reverse and 1 represents full forward.

setInverted(isInverted: bool) → None

Sets the inversion state of the motor controller.

Parameters:

isInverted – The inversion state.

setThrottle(throttle: SupportsFloat | SupportsIndex) → None

Sets the throttle of the motor controller.

Parameters:

throttle – The throttle where -1 indicates full reverse and 1 indicates full forward.

setVoltage(voltage: wpimath.units.volts) → None

Sets the voltage output of the motor controller.

Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are “meaningful” (e.g. they come from a feedforward calculation).

NOTE: This function must be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not “set it and forget it.”

Parameters:

voltage – The voltage.