- class wpilib.MotorSafety¶
This base class runs a watchdog timer and calls the subclass’s StopMotor() function if the timeout expires.
The subclass should call Feed() whenever the motor value is updated.
- check() None ¶
Check if this motor has exceeded its timeout.
This method is called periodically to determine if this motor has exceeded its timeout value. If it has, the stop method is called, and the motor is shut down until its value is updated again.
- static checkMotors() None ¶
Check the motors to see if any have timed out.
This static method is called periodically to poll all the motors and stop any that have timed out.
- feed() None ¶
Feed the motor safety object.
Resets the timer on this object that is used to do the timeouts.
- getDescription() str ¶
The return value from this method is printed out when an error occurs
This method must not throw!
- getExpiration() seconds ¶
Retrieve the timeout value for the corresponding motor safety object.
the timeout value.
- isAlive() bool ¶
Determine if the motor is still operating or has timed out.
true if the motor is still operating normally and hasn’t timed out.
- isSafetyEnabled() bool ¶
Return the state of the motor safety enabled flag.
Return if the motor safety is currently enabled for this device.
True if motor safety is enforced for this device.
- setExpiration(expirationTime: seconds) None ¶
Set the expiration time for the corresponding motor safety object.
expirationTime – The timeout value.
- setSafetyEnabled(enabled: bool) None ¶
Enable/disable motor safety for this device.
Turn on and off the motor safety option for this PWM object.
enabled – True if motor safety is enforced for this object.
- stopMotor() None ¶