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

#include <wpi/math/system/DCMotor.hpp>

Public Types
using	radians_per_second_per_volt_t
using	newton_meters_per_ampere_t

Public Member Functions
constexpr	DCMotor (wpi::units::volt_t nominalVoltage, wpi::units::newton_meter_t stallTorque, wpi::units::ampere_t stallCurrent, wpi::units::ampere_t freeCurrent, wpi::units::radians_per_second_t freeSpeed, int numMotors=1)
	Constructs a DC motor.
constexpr wpi::units::ampere_t	Current (wpi::units::radians_per_second_t velocity, wpi::units::volt_t inputVoltage) const
	Returns current drawn by motor with given velocity and input voltage.
constexpr wpi::units::ampere_t	Current (wpi::units::newton_meter_t torque) const
	Returns current drawn by motor for a given torque.
constexpr wpi::units::newton_meter_t	Torque (wpi::units::ampere_t current) const
	Returns torque produced by the motor with a given current.
constexpr wpi::units::volt_t	Voltage (wpi::units::newton_meter_t torque, wpi::units::radians_per_second_t velocity) const
	Returns the voltage provided to the motor for a given torque and angular velocity.
constexpr wpi::units::radians_per_second_t	Velocity (wpi::units::newton_meter_t torque, wpi::units::volt_t inputVoltage) const
	Returns the angular velocity produced by the motor at a given torque and input voltage.
constexpr DCMotor	WithReduction (double gearboxReduction)
	Returns a copy of this motor with the given gearbox reduction applied.

Static Public Member Functions
static constexpr DCMotor	CIM (int numMotors=1)
	Returns a gearbox of CIM motors.
static constexpr DCMotor	MiniCIM (int numMotors=1)
	Returns a gearbox of MiniCIM motors.
static constexpr DCMotor	Bag (int numMotors=1)
	Returns a gearbox of Bag motor motors.
static constexpr DCMotor	Vex775Pro (int numMotors=1)
	Returns a gearbox of Vex 775 Pro motors.
static constexpr DCMotor	RS775_125 (int numMotors=1)
	Returns a gearbox of Andymark RS 775-125 motors.
static constexpr DCMotor	BanebotsRS775 (int numMotors=1)
	Returns a gearbox of Banebots RS 775 motors.
static constexpr DCMotor	Andymark9015 (int numMotors=1)
	Returns a gearbox of Andymark 9015 motors.
static constexpr DCMotor	BanebotsRS550 (int numMotors=1)
	Returns a gearbox of Banebots RS 550 motors.
static constexpr DCMotor	NEO (int numMotors=1)
	Returns a gearbox of NEO brushless motors.
static constexpr DCMotor	NEO550 (int numMotors=1)
	Returns a gearbox of NEO 550 brushless motors.
static constexpr DCMotor	Falcon500 (int numMotors=1)
	Returns a gearbox of Falcon 500 brushless motors.
static constexpr DCMotor	Falcon500FOC (int numMotors=1)
	Return a gearbox of Falcon 500 motors with FOC (Field-Oriented Control) enabled.
static constexpr DCMotor	RomiBuiltIn (int numMotors=1)
	Return a gearbox of Romi/TI_RSLK MAX motors.
static constexpr DCMotor	KrakenX60 (int numMotors=1)
	Return a gearbox of Kraken X60 brushless motors.
static constexpr DCMotor	KrakenX60FOC (int numMotors=1)
	Return a gearbox of Kraken X60 brushless motors with FOC (Field-Oriented Control) enabled.
static constexpr DCMotor	KrakenX44 (int numMotors=1)
	Return a gearbox of Kraken X44 brushless motors.
static constexpr DCMotor	KrakenX44FOC (int numMotors=1)
	Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented Control) enabled.
static constexpr DCMotor	Minion (int numMotors=1)
	Return a gearbox of Minion brushless motors.
static constexpr DCMotor	NeoVortex (int numMotors=1)
	Return a gearbox of Neo Vortex brushless motors.

Public Attributes
wpi::units::volt_t	nominalVoltage
	Voltage at which the motor constants were measured.
wpi::units::newton_meter_t	stallTorque
	Torque when stalled.
wpi::units::ampere_t	stallCurrent
	Current draw when stalled.
wpi::units::ampere_t	freeCurrent
	Current draw under no load.
wpi::units::radians_per_second_t	freeSpeed
	Angular velocity under no load.
wpi::units::ohm_t	R
	Motor internal resistance.
radians_per_second_per_volt_t	Kv
	Motor velocity constant.
newton_meters_per_ampere_t	Kt
	Motor torque constant.

Detailed Description

Holds the constants for a DC motor.

Member Typedef Documentation

◆ newton_meters_per_ampere_t

using wpi::math::DCMotor::newton_meters_per_ampere_t

Initial value:

 
      wpi::units::unit_t<wpi::units::compound_unit<
          wpi::units::newton_meters, wpi::units::inverse<wpi::units::ampere>>>

◆ radians_per_second_per_volt_t

using wpi::math::DCMotor::radians_per_second_per_volt_t

Initial value:

 wpi::units::unit_t<
      wpi::units::compound_unit<wpi::units::radians_per_second,
                                wpi::units::inverse<wpi::units::volt>>>

Constructor & Destructor Documentation

◆ DCMotor()

wpi::math::DCMotor::DCMotor	(	wpi::units::volt_t	nominalVoltage,
		wpi::units::newton_meter_t	stallTorque,
		wpi::units::ampere_t	stallCurrent,
		wpi::units::ampere_t	freeCurrent,
		wpi::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()

constexpr DCMotor wpi::math::DCMotor::Andymark9015 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Andymark 9015 motors.

◆ Bag()

constexpr DCMotor wpi::math::DCMotor::Bag ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Bag motor motors.

◆ BanebotsRS550()

constexpr DCMotor wpi::math::DCMotor::BanebotsRS550 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Banebots RS 550 motors.

◆ BanebotsRS775()

constexpr DCMotor wpi::math::DCMotor::BanebotsRS775 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Banebots RS 775 motors.

◆ CIM()

constexpr DCMotor wpi::math::DCMotor::CIM ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of CIM motors.

◆ Current() [1/2]

wpi::units::ampere_t wpi::math::DCMotor::Current ( wpi::units::newton_meter_t torque ) const

inlineconstexpr

Returns current drawn by motor for a given torque.

Parameters

torque The torque produced by the motor.

◆ Current() [2/2]

wpi::units::ampere_t wpi::math::DCMotor::Current	(	wpi::units::radians_per_second_t	velocity,
		wpi::units::volt_t	inputVoltage ) const

inlineconstexpr

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

Parameters

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

◆ Falcon500()

constexpr DCMotor wpi::math::DCMotor::Falcon500 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Falcon 500 brushless motors.

◆ Falcon500FOC()

constexpr DCMotor wpi::math::DCMotor::Falcon500FOC ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Falcon 500 motors with FOC (Field-Oriented Control) enabled.

◆ KrakenX44()

constexpr DCMotor wpi::math::DCMotor::KrakenX44 ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Kraken X44 brushless motors.

◆ KrakenX44FOC()

constexpr DCMotor wpi::math::DCMotor::KrakenX44FOC ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented Control) enabled.

◆ KrakenX60()

constexpr DCMotor wpi::math::DCMotor::KrakenX60 ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Kraken X60 brushless motors.

◆ KrakenX60FOC()

constexpr DCMotor wpi::math::DCMotor::KrakenX60FOC ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Kraken X60 brushless motors with FOC (Field-Oriented Control) enabled.

◆ MiniCIM()

constexpr DCMotor wpi::math::DCMotor::MiniCIM ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of MiniCIM motors.

◆ Minion()

constexpr DCMotor wpi::math::DCMotor::Minion ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Minion brushless motors.

◆ NEO()

constexpr DCMotor wpi::math::DCMotor::NEO ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of NEO brushless motors.

◆ NEO550()

constexpr DCMotor wpi::math::DCMotor::NEO550 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of NEO 550 brushless motors.

◆ NeoVortex()

constexpr DCMotor wpi::math::DCMotor::NeoVortex ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Neo Vortex brushless motors.

◆ RomiBuiltIn()

constexpr DCMotor wpi::math::DCMotor::RomiBuiltIn ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Romi/TI_RSLK MAX motors.

◆ RS775_125()

constexpr DCMotor wpi::math::DCMotor::RS775_125 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Andymark RS 775-125 motors.

◆ Torque()

wpi::units::newton_meter_t wpi::math::DCMotor::Torque ( wpi::units::ampere_t current ) const

inlineconstexpr

Returns torque produced by the motor with a given current.

Parameters

current The current drawn by the motor.

◆ Velocity()

wpi::units::radians_per_second_t wpi::math::DCMotor::Velocity	(	wpi::units::newton_meter_t	torque,
		wpi::units::volt_t	inputVoltage ) const

inlineconstexpr

Returns the angular velocity 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.

◆ Vex775Pro()

constexpr DCMotor wpi::math::DCMotor::Vex775Pro ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Vex 775 Pro motors.

◆ Voltage()

wpi::units::volt_t wpi::math::DCMotor::Voltage	(	wpi::units::newton_meter_t	torque,
		wpi::units::radians_per_second_t	velocity ) const

inlineconstexpr

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

Parameters

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

◆ WithReduction()

DCMotor wpi::math::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

wpi::units::ampere_t wpi::math::DCMotor::freeCurrent

Current draw under no load.

◆ freeSpeed

wpi::units::radians_per_second_t wpi::math::DCMotor::freeSpeed

Angular velocity under no load.

◆ Kt

newton_meters_per_ampere_t wpi::math::DCMotor::Kt

Motor torque constant.

◆ Kv

radians_per_second_per_volt_t wpi::math::DCMotor::Kv

Motor velocity constant.

◆ nominalVoltage

wpi::units::volt_t wpi::math::DCMotor::nominalVoltage

Voltage at which the motor constants were measured.

◆ R

wpi::units::ohm_t wpi::math::DCMotor::R

Motor internal resistance.

◆ stallCurrent

wpi::units::ampere_t wpi::math::DCMotor::stallCurrent

Current draw when stalled.

◆ stallTorque

wpi::units::newton_meter_t wpi::math::DCMotor::stallTorque

Torque when stalled.

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

wpi/math/system/DCMotor.hpp

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() [1/2]

◆ Current() [2/2]

◆ Falcon500()

◆ Falcon500FOC()

◆ KrakenX44()

◆ KrakenX44FOC()

◆ KrakenX60()

◆ KrakenX60FOC()

◆ MiniCIM()

◆ Minion()

◆ NEO()

◆ NEO550()

◆ NeoVortex()

◆ RomiBuiltIn()

◆ RS775_125()

◆ Torque()

◆ Velocity()

◆ Vex775Pro()

◆ Voltage()

◆ WithReduction()

Member Data Documentation

◆ freeCurrent

◆ freeSpeed

◆ Kt

◆ Kv

◆ nominalVoltage

◆ R

◆ stallCurrent

◆ stallTorque