ExpansionHubCRServo

class wpilib.ExpansionHubCRServo(usb_id: SupportsInt | SupportsIndex, channel: SupportsInt | SupportsIndex)

Bases: pybind11_object

This class controls a specific servo in continuous rotation mode hooked up to an ExpansionHub.

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

@sa ExpansionHubServo for a servo mode, or non-continuous rotation servo

Parameters:

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

  • channel – The servo channel

is_hub_connected() → bool

Gets if the underlying ExpansionHub is connected.

Returns:

True if hub is connected, otherwise false

set_enabled(enabled: bool) → None

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

Parameters:

enabled – True to enable, false to disable

set_frame_period(frame_period: wpimath.units.microseconds) → None

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

Parameters:

frame_period – The frame period

set_pulse_width(pulse_width: wpimath.units.microseconds) → None

Sets the raw pulse width output on the servo.

Parameters:

pulse_width – Pulse width

set_pwm_range(min_pwm: wpimath.units.microseconds, max_pwm: 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:

  • min_pwm – Minimum PWM

  • max_pwm – Maximum PWM

set_reversed(reversed: bool) → None

Sets whether the servo is reversed.

This will reverse SetThrottle.

Parameters:

reversed – True to reverse, false for normal

set_throttle(value: SupportsFloat | SupportsIndex) → None

Set the servo throttle.

Throttle values range from -1.0 to 1.0 corresponding to full reverse to full forward.

Parameters:

value – Throttle from -1.0 to 1.0.