PWMVenom

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

Bases: wpilib.PWMSpeedController

Playing with Fusion Venom Smart Motor with PWM control.

Note that the Venom 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.

  • 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 Venom connected via PWM.

Parameters

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