Holds the constants for a DC motor. More...

#include <frc/system/plant/DCMotor.h>

Public Types
using	radians_per_second_per_volt_t = units::unit_t< units::compound_unit< units::radians_per_second, units::inverse< units::volt > > >

using	newton_meters_per_ampere_t = units::unit_t< units::compound_unit< units::newton_meters, units::inverse< units::ampere > > >

Public Member Functions
constexpr	DCMotor (units::volt_t nominalVoltage, units::newton_meter_t stallTorque, units::ampere_t stallCurrent, units::ampere_t freeCurrent, units::radians_per_second_t freeSpeed, int numMotors=1)
	Constructs a DC motor. More...

constexpr units::ampere_t	Current (units::radians_per_second_t speed, units::volt_t inputVoltage) const
	Returns current drawn by motor with given speed and input voltage. More...

constexpr units::newton_meter_t	Torque (units::ampere_t current) const
	Returns torque produced by the motor with a given current. More...

constexpr units::volt_t	Voltage (units::newton_meter_t torque, units::radians_per_second_t speed) const
	Returns the voltage provided to the motor for a given torque and angular velocity. More...

constexpr units::radians_per_second_t	Speed (units::newton_meter_t torque, units::volt_t inputVoltage) const
	Returns the speed produced by the motor at a given torque and input voltage. More...

constexpr DCMotor	WithReduction (double gearboxReduction)
	Returns a copy of this motor with the given gearbox reduction applied. More...

Static Public Member Functions
static constexpr DCMotor	CIM (int numMotors=1)
	Returns instance of CIM. More...

static constexpr DCMotor	MiniCIM (int numMotors=1)
	Returns instance of MiniCIM. More...

static constexpr DCMotor	Bag (int numMotors=1)
	Returns instance of Bag motor. More...

static constexpr DCMotor	Vex775Pro (int numMotors=1)
	Returns instance of Vex 775 Pro. More...

static constexpr DCMotor	RS775_125 (int numMotors=1)
	Returns instance of Andymark RS 775-125. More...

static constexpr DCMotor	BanebotsRS775 (int numMotors=1)
	Returns instance of Banebots RS 775. More...

static constexpr DCMotor	Andymark9015 (int numMotors=1)
	Returns instance of Andymark 9015. More...

static constexpr DCMotor	BanebotsRS550 (int numMotors=1)
	Returns instance of Banebots RS 550. More...

static constexpr DCMotor	NEO (int numMotors=1)
	Returns instance of NEO brushless motor. More...

static constexpr DCMotor	NEO550 (int numMotors=1)
	Returns instance of NEO 550 brushless motor. More...

static constexpr DCMotor	Falcon500 (int numMotors=1)
	Returns instance of Falcon 500 brushless motor. More...

static constexpr DCMotor	RomiBuiltIn (int numMotors=1)
	Return a gearbox of Romi/TI_RSLK MAX motors. More...

Public Attributes
units::volt_t	nominalVoltage

units::newton_meter_t	stallTorque

units::ampere_t	stallCurrent

units::ampere_t	freeCurrent

units::radians_per_second_t	freeSpeed

units::ohm_t	R

radians_per_second_per_volt_t	Kv

newton_meters_per_ampere_t	Kt

Detailed Description

Holds the constants for a DC motor.

Member Typedef Documentation

◆ newton_meters_per_ampere_t

using frc::DCMotor::newton_meters_per_ampere_t = units::unit_t<units::compound_unit<units::newton_meters, units::inverse<units::ampere> >>

◆ radians_per_second_per_volt_t

using frc::DCMotor::radians_per_second_per_volt_t = units::unit_t<units::compound_unit<units::radians_per_second, units::inverse<units::volt> >>

Constructor & Destructor Documentation

◆ DCMotor()

constexpr frc::DCMotor::DCMotor	(	units::volt_t	nominalVoltage,
		units::newton_meter_t	stallTorque,
		units::ampere_t	stallCurrent,
		units::ampere_t	freeCurrent,
		units::radians_per_second_t	freeSpeed,
		int	numMotors = `1`
	)

inlineconstexpr

Constructs a DC motor.

Parameters

nominalVoltage	Voltage at which the motor constants were measured.
stallTorque	Torque when stalled.
stallCurrent	Current draw when stalled.
freeCurrent	Current draw under no load.
freeSpeed	Angular velocity under no load.
numMotors	Number of motors in a gearbox.

Member Function Documentation

◆ Andymark9015()

static constexpr DCMotor frc::DCMotor::Andymark9015 ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Andymark 9015.

◆ Bag()

static constexpr DCMotor frc::DCMotor::Bag ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Bag motor.

◆ BanebotsRS550()

static constexpr DCMotor frc::DCMotor::BanebotsRS550 ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Banebots RS 550.

◆ BanebotsRS775()

static constexpr DCMotor frc::DCMotor::BanebotsRS775 ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Banebots RS 775.

◆ CIM()

static constexpr DCMotor frc::DCMotor::CIM ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of CIM.

◆ Current()

constexpr units::ampere_t frc::DCMotor::Current	(	units::radians_per_second_t	speed,
		units::volt_t	inputVoltage
	)		const

inlineconstexpr

Returns current drawn by motor with given speed and input voltage.

Parameters

speed	The current angular velocity of the motor.
inputVoltage	The voltage being applied to the motor.

◆ Falcon500()

static constexpr DCMotor frc::DCMotor::Falcon500 ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Falcon 500 brushless motor.

◆ MiniCIM()

static constexpr DCMotor frc::DCMotor::MiniCIM ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of MiniCIM.

◆ NEO()

static constexpr DCMotor frc::DCMotor::NEO ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of NEO brushless motor.

◆ NEO550()

static constexpr DCMotor frc::DCMotor::NEO550 ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of NEO 550 brushless motor.

◆ RomiBuiltIn()

static constexpr DCMotor frc::DCMotor::RomiBuiltIn ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Romi/TI_RSLK MAX motors.

◆ RS775_125()

static constexpr DCMotor frc::DCMotor::RS775_125 ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Andymark RS 775-125.

◆ Speed()

constexpr units::radians_per_second_t frc::DCMotor::Speed	(	units::newton_meter_t	torque,
		units::volt_t	inputVoltage
	)		const

inlineconstexpr

Returns the speed produced by the motor at a given torque and input voltage.

Parameters

torque	The torque produced by the motor.
inputVoltage	The input voltage provided to the motor.

◆ Torque()

constexpr units::newton_meter_t frc::DCMotor::Torque ( units::ampere_t current ) const

inlineconstexpr

Returns torque produced by the motor with a given current.

Parameters

current The current drawn by the motor.

◆ Vex775Pro()

static constexpr DCMotor frc::DCMotor::Vex775Pro ( int numMotors = 1 )

inlinestaticconstexpr

Returns instance of Vex 775 Pro.

◆ Voltage()

constexpr units::volt_t frc::DCMotor::Voltage	(	units::newton_meter_t	torque,
		units::radians_per_second_t	speed
	)		const

inlineconstexpr

Returns the voltage provided to the motor for a given torque and angular velocity.

Parameters

torque	The torque produced by the motor.
speed	The current angular velocity of the motor.

◆ WithReduction()

constexpr DCMotor frc::DCMotor::WithReduction ( double gearboxReduction )

inlineconstexpr

Returns a copy of this motor with the given gearbox reduction applied.

Parameters

gearboxReduction The gearbox reduction.

Member Data Documentation

◆ freeCurrent

units::ampere_t frc::DCMotor::freeCurrent

◆ freeSpeed

units::radians_per_second_t frc::DCMotor::freeSpeed

◆ Kt

newton_meters_per_ampere_t frc::DCMotor::Kt

◆ Kv

radians_per_second_per_volt_t frc::DCMotor::Kv

◆ nominalVoltage

units::volt_t frc::DCMotor::nominalVoltage

◆ R

units::ohm_t frc::DCMotor::R

◆ stallCurrent

units::ampere_t frc::DCMotor::stallCurrent

◆ stallTorque

units::newton_meter_t frc::DCMotor::stallTorque

The documentation for this class was generated from the following file:

frc/system/plant/DCMotor.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ newton_meters_per_ampere_t

◆ radians_per_second_per_volt_t

Constructor & Destructor Documentation

◆ DCMotor()

Member Function Documentation

◆ Andymark9015()

◆ Bag()

◆ BanebotsRS550()

◆ BanebotsRS775()

◆ CIM()

◆ Current()

◆ Falcon500()

◆ MiniCIM()

◆ NEO()

◆ NEO550()

◆ RomiBuiltIn()

◆ RS775_125()

◆ Speed()

◆ Torque()

◆ Vex775Pro()

◆ Voltage()

◆ WithReduction()

Member Data Documentation

◆ freeCurrent

◆ freeSpeed

◆ Kt

◆ Kv

◆ nominalVoltage

◆ R

◆ stallCurrent

◆ stallTorque