PWMMotorController¶
- class wpilib.PWMMotorController(name: str, channel: int)¶
Bases:
MotorController,MotorSafety,SendableCommon 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
- 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¶
- stopMotor() None¶