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 Summary

Fields

Modifier and Type	Field	Description
double	freeCurrentAmps
double	freeSpeedRadPerSec
double	KtNMPerAmp
double	KvRadPerSecPerVolt
double	nominalVoltageVolts
double	rOhms
double	stallCurrentAmps
double	stallTorqueNewtonMeters

Constructor Summary

Constructors

Constructor	Description
DCMotor(double nominalVoltageVolts, double stallTorqueNewtonMeters, double stallCurrentAmps, double freeCurrentAmps, double freeSpeedRadPerSec, int numMotors)	Constructs a DC motor.

Method Summary

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.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

nominalVoltageVolts

public final double nominalVoltageVolts

stallTorqueNewtonMeters

public final double stallTorqueNewtonMeters

stallCurrentAmps

public final double stallCurrentAmps

freeCurrentAmps

public final double freeCurrentAmps

freeSpeedRadPerSec

public final double freeSpeedRadPerSec

rOhms

public final double rOhms

KvRadPerSecPerVolt

public final double KvRadPerSecPerVolt

KtNMPerAmp

public final double KtNMPerAmp

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 - 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 Details

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.