PWMMotorController

class wpilib.PWMMotorController(name: str, channel: int)

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 PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are on the MXP port

addFollower(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

enableDeadbandElimination(eliminateDeadband: bool) → None

Optionally eliminate the deadband from a motor controller.

Parameters:: eliminateDeadband – 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() → float

Get the recently set value of the PWM. This value is affected by the inversion property. If you want the value that is sent directly to the MotorController, use PWM::GetSpeed() instead.

Returns:: The most recently set value for the PWM between -1.0 and 1.0.

getChannel() → int

getDescription() → str

getInverted() → bool

set(value: float) → None

Set the PWM value.

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Parameters:: value – The speed value between -1.0 and 1.0 to set.

setInverted(isInverted: bool) → None

setVoltage(output: wpimath.units.volts) → None

Sets the voltage output of the PWMMotorController. 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:: output – The voltage to output.

stopMotor() → None