def __init__(self, channel: int) -> None:
"""Allocate a PWM given a channel.
:param channel: The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
"""
super().__init__()
SendableBase.__init__(self)
SensorUtil.checkPWMChannel(channel)
self.channel = channel
self._handle = hal.initializePWMPort(hal.getPort(channel))
self.__finalizer = weakref.finalize(self, _freePWM, self._handle)
self.setDisabled()
hal.setPWMEliminateDeadband(self.handle, False)
hal.report(hal.UsageReporting.kResourceType_PWM, channel)
self.setName("PWM", channel)
self.setSafetyEnabled(False)
# Python-specific: Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
def __init__(self, channel: int) -> None:
"""Allocate a PWM given a channel.
:param channel: The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
"""
super().__init__()
SendableBase.__init__(self)
SensorUtil.checkPWMChannel(channel)
self.channel = channel
self.handle = hal.initializePWMPort(hal.getPort(channel))
self.__finalizer = weakref.finalize(self, _freePWM, self.handle)
self.setDisabled()
hal.setPWMEliminateDeadband(self.handle, False)
hal.report(hal.UsageReporting.kResourceType_PWM, channel)
self.setName("PWM", channel)
self.setSafetyEnabled(False)
# Python-specific: Need this to free on unit test wpilib reset
Resource._add_global_resource(self)