Package edu.wpi.first.math.system.plant

Class DCMotor

java.lang.Object
edu.wpi.first.math.system.plant.DCMotor
public class DCMotor
extends Object
Holds the constants for a DC motor.

  • Field Details

  • Constructor Details

    • DCMotor

      public DCMotor​(double nominalVoltageVolts, double stallTorqueNewtonMeters, double stallCurrentAmps, double freeCurrentAmps, double freeSpeedRadPerSec, int numMotors)
      Constructs a DC motor.
      Parameters:
      nominalVoltageVolts - Voltage at which the motor constants were measured.
      stallTorqueNewtonMeters - Torque when stalled in Newton-meters.
      stallCurrentAmps - Current draw when stalled in amps.
      freeCurrentAmps - Current draw under no load in amps.
      freeSpeedRadPerSec - Angular velocity under no load in radians per second.
      numMotors - Number of motors in a gearbox.

  • Method Details

    • getCurrent

      public double getCurrent​(double speedRadiansPerSec, double voltageInputVolts)
      Estimate the current being drawn by this motor.
      Parameters:
      speedRadiansPerSec - The speed of the motor.
      voltageInputVolts - The input voltage.
      Returns:
      The estimated current.

    • getTorque

      public double getTorque​(double currentAmpere)
      Calculate the torque produced by the motor for a given current.
      Parameters:
      currentAmpere - The current drawn by the motor.
      Returns:
      The torque produced.

    • getVoltage

      public double getVoltage​(double torqueNm, double speedRadiansPerSec)
      Calculate the voltage provided to the motor at a given torque and angular velocity.
      Parameters:
      torqueNm - The torque produced by the motor.
      speedRadiansPerSec - The speed of the motor.
      Returns:
      The voltage of the motor.

    • getSpeed

      public double getSpeed​(double torqueNm, double voltageInputVolts)
      Calculate the speed of the motor at a given torque and input voltage.
      Parameters:
      torqueNm - The torque produced by the motor.
      voltageInputVolts - The voltage applied to the motor.
      Returns:
      The speed of the motor.

    • withReduction

      public DCMotor withReduction​(double gearboxReduction)
      Returns a copy of this motor with the given gearbox reduction applied.
      Parameters:
      gearboxReduction - The gearbox reduction.
      Returns:
      A motor with the gearbox reduction applied.

    • getCIM

      public static DCMotor getCIM​(int numMotors)
      Return a gearbox of CIM motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of CIM motors.

    • getVex775Pro

      public static DCMotor getVex775Pro​(int numMotors)
      Return a gearbox of 775Pro motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of 775Pro motors.

    • getNEO

      public static DCMotor getNEO​(int numMotors)
      Return a gearbox of NEO motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of NEO motors.

    • getMiniCIM

      public static DCMotor getMiniCIM​(int numMotors)
      Return a gearbox of MiniCIM motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of MiniCIM motors.

    • getBag

      public static DCMotor getBag​(int numMotors)
      Return a gearbox of Bag motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Bag motors.

    • getAndymarkRs775_125

      public static DCMotor getAndymarkRs775_125​(int numMotors)
      Return a gearbox of Andymark RS775-125 motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Andymark RS775-125 motors.

    • getBanebotsRs775

      public static DCMotor getBanebotsRs775​(int numMotors)
      Return a gearbox of Banebots RS775 motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Banebots RS775 motors.

    • getAndymark9015

      public static DCMotor getAndymark9015​(int numMotors)
      Return a gearbox of Andymark 9015 motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Andymark 9015 motors.

    • getBanebotsRs550

      public static DCMotor getBanebotsRs550​(int numMotors)
      Return a gearbox of Banebots RS 550 motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Banebots RS 550 motors.

    • getNeo550

      public static DCMotor getNeo550​(int numMotors)
      Return a gearbox of NEO 550 motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of NEO 550 motors.

    • getFalcon500

      public static DCMotor getFalcon500​(int numMotors)
      Return a gearbox of Falcon 500 motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Falcon 500 motors.

    • getRomiBuiltIn

      public static DCMotor getRomiBuiltIn​(int numMotors)
      Return a gearbox of Romi/TI_RSLK MAX motors.
      Parameters:
      numMotors - Number of motors in the gearbox.
      Returns:
      A gearbox of Romi/TI_RSLK MAX motors.