MotorController

class wpilib.interfaces.MotorController

Bases: pybind11_object

Interface for motor controlling devices.

disable() → None

Common interface for disabling a motor.

get() → float

Common interface for getting the current set speed of a motor controller.

Returns:

The current set speed. Value is between -1.0 and 1.0.

getInverted() → bool

Common interface for returning the inversion state of a motor controller.

Returns:

isInverted The state of inversion, true is inverted.

set(speed: float) → None

Common interface for setting the speed of a motor controller.

Parameters:

speed – The speed to set. Value should be between -1.0 and 1.0.

setInverted(isInverted: bool) → None

Common interface for inverting direction of a motor controller.

Parameters:

isInverted – The state of inversion, true is inverted.

setVoltage(output: volts) → None

Sets the voltage output of the MotorController. 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

Common interface to stop the motor until Set is called again.