PWMSim

class wpilib.simulation.PWMSim(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

Class to control a simulated PWM output.

Overloaded function.

  1. __init__(self: wpilib.simulation._simulation.PWMSim, pwm: wpilib._wpilib.PWM) -> None

Constructs from a PWM object.

Parameters

pwm – PWM to simulate

  1. __init__(self: wpilib.simulation._simulation.PWMSim, channel: int) -> None

Constructs from a PWM channel number.

Parameters

channel – Channel number

getInitialized()bool

Check whether the PWM has been initialized.

Returns

true if initialized

getPeriodScale()int

Get the PWM period scale.

Returns

the PWM period scale

getPosition()float

Get the PWM position.

Returns

the PWM position (0.0 to 1.0)

getRawValue()int

Get the PWM raw value.

Returns

the PWM raw value

getSpeed()float

Get the PWM speed.

Returns

the PWM speed (-1.0 to 1.0)

getZeroLatch()bool

Check whether the PWM is zero latched.

Returns

true if zero latched

registerInitializedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool)wpilib.simulation.CallbackStore

Register a callback to be run when the PWM is initialized.

Parameters
  • callback – the callback

  • initialNotify – whether to run the callback with the initial state

Returns

the CallbackStore object associated with this callback

registerPeriodScaleCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool)wpilib.simulation.CallbackStore

Register a callback to be run when the PWM period scale changes.

Parameters
  • callback – the callback

  • initialNotify – whether to run the callback with the initial value

Returns

the CallbackStore object associated with this callback

registerPositionCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool)wpilib.simulation.CallbackStore

Register a callback to be run when the PWM position changes.

Parameters
  • callback – the callback

  • initialNotify – whether to run the callback with the initial value

Returns

the CallbackStore object associated with this callback

registerRawValueCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool)wpilib.simulation.CallbackStore

Register a callback to be run when the PWM raw value changes.

Parameters
  • callback – the callback

  • initialNotify – whether to run the callback with the initial value

Returns

the CallbackStore object associated with this callback

registerSpeedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool)wpilib.simulation.CallbackStore

Register a callback to be run when the PWM speed changes.

Parameters
  • callback – the callback

  • initialNotify – whether to run the callback with the initial value

Returns

the CallbackStore object associated with this callback

registerZeroLatchCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool)wpilib.simulation.CallbackStore

Register a callback to be run when the PWM zero latch state changes.

Parameters
  • callback – the callback

  • initialNotify – whether to run the callback with the initial state

Returns

the CallbackStore object associated with this callback

resetData()None

Reset all simulation data.

setInitialized(initialized: bool)None

Define whether the PWM has been initialized.

Parameters

initialized – whether this object is initialized

setPeriodScale(periodScale: int)None

Set the PWM period scale.

Parameters

periodScale – the PWM period scale

setPosition(position: float)None

Set the PWM position.

Parameters

position – the PWM position (0.0 to 1.0)

setRawValue(rawValue: int)None

Set the PWM raw value.

Parameters

rawValue – the PWM raw value

setSpeed(speed: float)None

Set the PWM speed.

Parameters

speed – the PWM speed (-1.0 to 1.0)

setZeroLatch(zeroLatch: bool)None

Define whether the PWM has been zero latched.

Parameters

zeroLatch – true to indicate zero latched