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 WPI drivetrain classes, see Using the WPILib Classes to Drive your Robot.
Using PWM Speed Controllers¶
PWM speed controllers can be controlled in the same was as a CAN speed controller. For a more detailed background on how they work, see PWM Speed Controllers in Depth. To use a PWM speed controller, simply use the appropriate speed controller class provided by WPI and supply it the port the speed controller(s) are plugged into on the roboRIO. All approved motor controllers have WPI classes provided for them.
CAN Motor Controllers¶
A handful of CAN speed controllers are available through vendors such as CTR Electronics and REV Robotics.