MotorSafety

class wpilib.MotorSafety(self: wpilib.MotorSafety) → None

Bases: wpilib.ErrorBase

This base class runs a watchdog timer and calls the subclass’s StopMotor() function if the timeout expires.

The subclass should call Feed() whenever the motor value is updated.

check(self: wpilib.MotorSafety) → None

Check if this motor has exceeded its timeout.

This method is called periodically to determine if this motor has exceeded its timeout value. If it has, the stop method is called, and the motor is shut down until its value is updated again.

static checkMotors() → None

Check the motors to see if any have timed out.

This static method is called periodically to poll all the motors and stop any that have timed out.

feed(self: wpilib.MotorSafety) → None

Feed the motor safety object.

Resets the timer on this object that is used to do the timeouts.

getDescription(self: wpilib.MotorSafety) → str
getExpiration(self: wpilib.MotorSafety) → float

Retrieve the timeout value for the corresponding motor safety object.

Returns

the timeout value in seconds.

isAlive(self: wpilib.MotorSafety) → bool

Determine if the motor is still operating or has timed out.

Returns

true if the motor is still operating normally and hasn’t timed out.

isSafetyEnabled(self: wpilib.MotorSafety) → bool

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns

True if motor safety is enforced for this device.

setExpiration(self: wpilib.MotorSafety, expirationTime: float) → None

Set the expiration time for the corresponding motor safety object.

Parameters

expirationTime – The timeout value in seconds.

setSafetyEnabled(self: wpilib.MotorSafety, enabled: bool) → None

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this PWM object.

Parameters

enabled – True if motor safety is enforced for this object.

stopMotor(self: wpilib.MotorSafety) → None