PWMVenom

class wpilib.PWMVenom(channel: int)

Bases: PWMMotorController

Playing with Fusion Venom Motor Controller with PWM control.

Note that the Venom uses the following bounds for PWM values. These values should work reasonably well for most controllers, but if users experience issues such as asymmetric behavior around the deadband or inability to saturate the controller in either direction, calibration is recommended. The calibration procedure can be found in the Venom User Manual available from Playing with Fusion.

  • 2.004ms = full “forward”

  • 1.520ms = the “high end” of the deadband range

  • 1.500ms = center of the deadband range (off)

  • 1.480ms = the “low end” of the deadband range

  • 0.997ms = full “reverse”

Constructor for a Venom connected via PWM.

Parameters:

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