class wpilib.NidecBrushless(self: wpilib.NidecBrushless, pwmChannel: int, dioChannel: int) → None

Bases: wpilib.interfaces.SpeedController, wpilib.MotorSafety, wpilib.Sendable

Nidec Brushless Motor.


  • pwmChannel – The PWM channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-19 are on the MXP port.

  • dioChannel – The DIO channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-25 are on the MXP port.

disable(self: wpilib.NidecBrushless) → None

Disable the motor. The Enable() function must be called to re-enable the motor.

enable(self: wpilib.NidecBrushless) → None

Re-enable the motor after Disable() has been called. The Set() function must be called to set a new motor speed.

get(self: wpilib.NidecBrushless) → float

Get the recently set value of the PWM.


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

getChannel(self: wpilib.NidecBrushless) → int

Gets the channel number associated with the object.


The channel number.

getDescription(self: wpilib.NidecBrushless) → str
getInverted(self: wpilib.NidecBrushless) → bool
initSendable(self: wpilib.NidecBrushless, builder: wpilib.SendableBuilder) → None
pidWrite(self: wpilib.NidecBrushless, output: float) → None

Write out the PID value as seen in the PIDOutput base object.


output – Write out the PWM value as was found in the PIDController

set(self: wpilib.NidecBrushless, speed: 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.


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

setInverted(self: wpilib.NidecBrushless, isInverted: bool) → None
stopMotor(self: wpilib.NidecBrushless) → None