- FRC Game Manual
- FRC Game Q&A

# Using Motor Controllers in Code

Motor controllers come in two main flavors: CAN and PWM. A CAN controller can send more detailed status information back to the roboRIO, whereas a PWM controller can only be set to a value. For information on using these motors with the WPILib drivetrain classes, see Using the WPILib Classes to Drive your Robot.

## Using PWM Motor Controllers

For a more detailed background on how PWM motor controllers work, see PWM Motor Controllers in Depth. To use a PWM motor controller, simply use the appropriate motor controller class provided by WPILib and supply it the port the motor controller(s) are plugged into on the roboRIO. All approved motor controllers have WPILib classes provided for them.

Note

The `Spark` and `VictorSP` classes are used here as an example; other PWM motor controller classes have exactly the same API.

Important

The `set()` method accepts values from -1.0 to 1.0, where:

- -1.0 = full speed reverse

- 0.0 = stopped

- 1.0 = full speed forward

### Where to Put This Code

In Command-Based programs:

Motor controllers should be declared as member variables in your subsystem class. Create them in the subsystem constructor, and use them in command methods.

JAVA

    public class IntakeSubsystem extends SubsystemBase {
      private final Spark m_motor = new Spark(0);

      public void runIntake() {
        m_motor.set(0.8);
      }

      public void stopIntake() {
        m_motor.set(0.0);
      }
    }

C++

    class IntakeSubsystem : public frc2::SubsystemBase {
     public:
      IntakeSubsystem() : m_motor{0} {}

      void RunIntake() {
        m_motor.Set(0.8);
      }

      void StopIntake() {
        m_motor.Set(0.0);
      }

     private:
      frc::Spark m_motor;
    };

PYTHON

    class IntakeSubsystem(commands2.SubsystemBase):
        def __init__(self):
            super().__init__()
            self.motor = wpilib.Spark(0)

        def run_intake(self):
            self.motor.set(0.8)

        def stop_intake(self):
            self.motor.set(0.0)

In Timed Robot programs:

Motor controllers should be declared as member variables in your `Robot` class. Create them in `robotInit()`, and use them in periodic methods or autonomous/teleop methods.

JAVA

    public class Robot extends TimedRobot {
      private Spark m_intakeMotor;
      private Joystick m_joystick;

      @Override
      public void robotInit() {
        m_intakeMotor = new Spark(0);
        m_joystick = new Joystick(0);
      }

      @Override
      public void teleopPeriodic() {
        // Run intake when button is pressed
        if (m_joystick.getRawButton(1)) {
          m_intakeMotor.set(0.8);
        } else {
          m_intakeMotor.set(0.0);
        }
      }
    }

C++

    class Robot : public frc::TimedRobot {
     public:
      Robot() : m_intakeMotor{0}, m_joystick{0} {}

      void TeleopPeriodic() override {
        // Run intake when button is pressed
        if (m_joystick.GetRawButton(1)) {
          m_intakeMotor.Set(0.8);
        } else {
          m_intakeMotor.Set(0.0);
        }
      }

     private:
      frc::Spark m_intakeMotor;
      frc::Joystick m_joystick;
    };

PYTHON

    class MyRobot(wpilib.TimedRobot):
        def robotInit(self):
            self.intake_motor = wpilib.Spark(0)
            self.joystick = wpilib.Joystick(0)

        def teleopPeriodic(self):
            # Run intake when button is pressed
            if self.joystick.getRawButton(1):
                self.intake_motor.set(0.8)
            else:
                self.intake_motor.set(0.0)

### Common Use Cases

Motor controllers are used throughout the robot for many mechanisms:

- Intakes: Spin wheels to collect game pieces

- Shooters: Spin flywheels to launch game pieces

- Conveyors: Move game pieces through the robot

- Arms/Elevators: Raise and lower mechanisms (often with position control)

- Climbers: Extend or retract climbing mechanisms

For drivetrain usage, see Using the WPILib Classes to Drive your Robot. For more complete examples, see WPILib Example Projects.

## CAN Motor Controllers

CAN motor controllers are available through vendors such as CTR Electronics (Talon FX), REV Robotics (SPARK MAX/FLEX), and others. See Third-Party CAN Devices, 3rd Party Libraries, and Third Party Example Projects for more information.