PWMTalonSRX

class wpilib.PWMTalonSRX(self: wpilib.PWMTalonSRX, channel: int) → None

Bases: wpilib.PWMSpeedController

Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.

Note that the Talon SRX 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 Talon SRX User Manual available from Cross The Road Electronics.

  • 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”

Construct a Talon SRX connected via PWM.

Parameters

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