PWMVictorSPX

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

Bases: wpilib.PWMSpeedController

Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.

Note that the Victor SPX 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 Victor SPX 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 Victor SPX connected via PWM.

Parameters

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