PWMMotorController

class wpilib.PWMMotorController(name: str, channel: SupportsInt | SupportsIndex)

Bases: MotorController, MotorSafety, Sendable

Common base class for all PWM Motor Controllers.

Constructor for a PWM Motor Controller connected via PWM.

Parameters:

• name – Name to use for SendableRegistry

• channel – The SmartIO channel that the controller is attached to.

add_follower(follower: wpilib._wpilib.PWMMotorController) → None

Make the given PWM motor controller follow the output of this one.

Parameters:

follower – The motor controller follower.

disable() → None

enable_deadband_elimination(eliminate_deadband: bool) → None

Optionally eliminate the deadband from a motor controller.

Parameters:

eliminate_deadband – If true, set the motor curve on the motor controller to eliminate the deadband in the middle of the range. Otherwise, keep the full range without modifying any values.

get_channel() → int

get_description() → str

get_inverted() → bool

get_throttle() → float

get_voltage() → wpimath.units.volts

Gets the voltage output of the motor controller, nominally between -12 V and 12 V.

Returns:

The voltage of the motor controller, nominally between -12 V and 12 V.

set_inverted(is_inverted: bool) → None

set_throttle(throttle: SupportsFloat | SupportsIndex) → None

stop_motor() → None