PWMSim

class wpilib.simulation.PWMSim(*args, **kwargs)

Bases: pybind11_object

Class to control a simulated PWM output.

Overloaded function.

  1. __init__(self: wpilib.simulation._simulation.PWMSim, pwm: wpilib._wpilib.PWM) -> None

Constructs from a PWM object.

Parameters:

pwm – PWM to simulate

  1. __init__(self: wpilib.simulation._simulation.PWMSim, channel: typing.SupportsInt | typing.SupportsIndex) -> None

Constructs from a PWM channel number.

Parameters:

channel – Channel number

get_initialized() → bool

Check whether the PWM has been initialized.

Returns:

true if initialized

get_output_period() → int

Get the PWM period scale.

Returns:

the PWM period scale

get_pulse_microsecond() → int

Get the PWM pulse microsecond value.

Returns:

the PWM pulse microsecond value

register_initialized_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run when the PWM is initialized.

Parameters:

  • callback – the callback

  • initial_notify – whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback

register_output_period_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run when the PWM period scale changes.

Parameters:

  • callback – the callback

  • initial_notify – whether to run the callback with the initial value

Returns:

the CallbackStore object associated with this callback

register_pulse_microsecond_callback(callback: collections.abc.Callable[[str, hal._wpi_hal.Value], None], initial_notify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback to be run when the PWM pulse microsecond value changes.

Parameters:

  • callback – the callback

  • initial_notify – whether to run the callback with the initial value

Returns:

the CallbackStore object associated with this callback

reset_data() → None

Reset all simulation data.

set_initialized(initialized: bool) → None

Define whether the PWM has been initialized.

Parameters:

initialized – whether this object is initialized

set_output_period(period: SupportsInt | SupportsIndex) → None

Set the PWM period scale.

Parameters:

period – the PWM period scale

set_pulse_microsecond(microsecond_pulse_time: SupportsInt | SupportsIndex) → None

Set the PWM pulse microsecond value.

Parameters:

microsecond_pulse_time – the PWM pulse microsecond value