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
PWM motor controllers can be controlled in the same way as a CAN motor controller. For a more detailed background on how they 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.
Nota
The Spark
and VictorSP
classes are used here as an example; other PWM motor controller classes have exactly the same API.
Spark spark = new Spark(0); // 0 is the RIO PWM port this is connected to
spark.set(-0.75); // the % output of the motor, between -1 and 1
VictorSP victor = new VictorSP(0); // 0 is the RIO PWM port this is connected to
victor.set(0.6); // the % output of the motor, between -1 and 1
frc::Spark spark{0}; // 0 is the RIO PWM port this is connected to
spark.Set(-0.75); // the % output of the motor, between -1 and 1
frc::VictorSP victor{0}; // 0 is the RIO PWM port this is connected to
victor.Set(0.6); // the % output of the motor, between -1 and 1
spark = wpilib.Spark(0) # 0 is the RIO PWM port this is connected to
spark.set(-0.75) # the % output of the motor, between -1 and 1
victor = wpilib.VictorSP(0) # 0 is the RIO PWM port this is connected to
victor.set(0.6) # the % output of the motor, between -1 and 1
CAN Motor Controllers
A handful of CAN motor controllers are available through vendors such as CTR Electronics, REV Robotics, and Playing with Fusion. See Third-Party CAN Devices, 3rd Party Libraries, and Third Party Example Projects for more information.