Package edu.wpi.first.math.system.plant
Class DCMotor
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- edu.wpi.first.math.system.plant.DCMotor
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Field Summary
Fields Modifier and Type Field Description double
freeCurrentAmps
double
freeSpeedRadPerSec
double
KtNMPerAmp
double
KvRadPerSecPerVolt
double
nominalVoltageVolts
double
rOhms
double
stallCurrentAmps
double
stallTorqueNewtonMeters
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Constructor Summary
Constructors Constructor Description DCMotor(double nominalVoltageVolts, double stallTorqueNewtonMeters, double stallCurrentAmps, double freeCurrentAmps, double freeSpeedRadPerSec, int numMotors)
Constructs a DC motor.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description static DCMotor
getAndymark9015(int numMotors)
Return a gearbox of Andymark 9015 motors.static DCMotor
getAndymarkRs775_125(int numMotors)
Return a gearbox of Andymark RS775-125 motors.static DCMotor
getBag(int numMotors)
Return a gearbox of Bag motors.static DCMotor
getBanebotsRs550(int numMotors)
Return a gearbox of Banebots RS 550 motors.static DCMotor
getBanebotsRs775(int numMotors)
Return a gearbox of Banebots RS775 motors.static DCMotor
getCIM(int numMotors)
Return a gearbox of CIM motors.double
getCurrent(double speedRadiansPerSec, double voltageInputVolts)
Estimate the current being drawn by this motor.static DCMotor
getFalcon500(int numMotors)
Return a gearbox of Falcon 500 motors.static DCMotor
getMiniCIM(int numMotors)
Return a gearbox of MiniCIM motors.static DCMotor
getNEO(int numMotors)
Return a gearbox of NEO motors.static DCMotor
getNeo550(int numMotors)
Return a gearbox of NEO 550 motors.static DCMotor
getRomiBuiltIn(int numMotors)
Return a gearbox of Romi/TI_RSLK MAX motors.static DCMotor
getVex775Pro(int numMotors)
Return a gearbox of 775Pro motors.
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Field Detail
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nominalVoltageVolts
public final double nominalVoltageVolts
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stallTorqueNewtonMeters
public final double stallTorqueNewtonMeters
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stallCurrentAmps
public final double stallCurrentAmps
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freeCurrentAmps
public final double freeCurrentAmps
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freeSpeedRadPerSec
public final double freeSpeedRadPerSec
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rOhms
public final double rOhms
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KvRadPerSecPerVolt
public final double KvRadPerSecPerVolt
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KtNMPerAmp
public final double KtNMPerAmp
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Constructor Detail
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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.
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Method Detail
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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