Class DCMotor


  • public class DCMotor
    extends Object
    Holds the constants for a DC motor.
    • Constructor Detail

      • 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 - Current draw when stalled.
        stallCurrentAmps - Current draw when stalled.
        freeCurrentAmps - Current draw under no load.
        freeSpeedRadPerSec - Angular velocity under no load.
        numMotors - Number of motors in a gearbox.
    • Method Detail

      • getCurrent

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