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

#include <frc/system/plant/DCMotor.h>

Public Types
using	radians_per_second_per_volt_t = units::unit_t< units::compound_unit< units::radians_per_second, units::inverse< units::volt > > >

using	newton_meters_per_ampere_t = units::unit_t< units::compound_unit< units::newton_meters, units::inverse< units::ampere > > >

Public Member Functions
constexpr	DCMotor (units::volt_t nominalVoltage, units::newton_meter_t stallTorque, units::ampere_t stallCurrent, units::ampere_t freeCurrent, units::radians_per_second_t freeSpeed, int numMotors=1)
	Constructs a DC motor. More...

constexpr units::ampere_t	Current (units::radians_per_second_t speed, units::volt_t inputVoltage) const
	Returns current drawn by motor with given speed and input voltage. More...

constexpr units::newton_meter_t	Torque (units::ampere_t current) const
	Returns torque produced by the motor with a given current. More...

constexpr units::volt_t	Voltage (units::newton_meter_t torque, units::radians_per_second_t speed) const
	Returns the voltage provided to the motor for a given torque and angular velocity. More...

constexpr units::radians_per_second_t	Speed (units::newton_meter_t torque, units::volt_t inputVoltage) const
	Returns the angular speed produced by the motor at a given torque and input voltage. More...

constexpr DCMotor	WithReduction (double gearboxReduction)
	Returns a copy of this motor with the given gearbox reduction applied. More...

Static Public Member Functions
static constexpr DCMotor	CIM (int numMotors=1)
	Returns a gearbox of CIM motors. More...

static constexpr DCMotor	MiniCIM (int numMotors=1)
	Returns a gearbox of MiniCIM motors. More...

static constexpr DCMotor	Bag (int numMotors=1)
	Returns a gearbox of Bag motor motors. More...

static constexpr DCMotor	Vex775Pro (int numMotors=1)
	Returns a gearbox of Vex 775 Pro motors. More...

static constexpr DCMotor	RS775_125 (int numMotors=1)
	Returns a gearbox of Andymark RS 775-125 motors. More...

static constexpr DCMotor	BanebotsRS775 (int numMotors=1)
	Returns a gearbox of Banebots RS 775 motors. More...

static constexpr DCMotor	Andymark9015 (int numMotors=1)
	Returns a gearbox of Andymark 9015 motors. More...

static constexpr DCMotor	BanebotsRS550 (int numMotors=1)
	Returns a gearbox of Banebots RS 550 motors. More...

static constexpr DCMotor	NEO (int numMotors=1)
	Returns a gearbox of NEO brushless motors. More...

static constexpr DCMotor	NEO550 (int numMotors=1)
	Returns a gearbox of NEO 550 brushless motors. More...

static constexpr DCMotor	Falcon500 (int numMotors=1)
	Returns a gearbox of Falcon 500 brushless motors. More...

static constexpr DCMotor	Falcon500FOC (int numMotors=1)
	Return a gearbox of Falcon 500 motors with FOC (Field-Oriented Control) enabled. More...

static constexpr DCMotor	RomiBuiltIn (int numMotors=1)
	Return a gearbox of Romi/TI_RSLK MAX motors. More...

static constexpr DCMotor	KrakenX60 (int numMotors=1)
	Return a gearbox of Kraken X60 brushless motors. More...

static constexpr DCMotor	KrakenX60FOC (int numMotors=1)
	Return a gearbox of Kraken X60 brushless motors with FOC (Field-Oriented Control) enabled. More...

static constexpr DCMotor	NeoVortex (int numMotors=1)
	Return a gearbox of Neo Vortex brushless motors. More...

Public Attributes
units::volt_t	nominalVoltage
	Voltage at which the motor constants were measured. More...

units::newton_meter_t	stallTorque
	Torque when stalled. More...

units::ampere_t	stallCurrent
	Current draw when stalled. More...

units::ampere_t	freeCurrent
	Current draw under no load. More...

units::radians_per_second_t	freeSpeed
	Angular velocity under no load. More...

units::ohm_t	R
	Motor internal resistance. More...

radians_per_second_per_volt_t	Kv
	Motor velocity constant. More...

newton_meters_per_ampere_t	Kt
	Motor torque constant. More...

Detailed Description

Holds the constants for a DC motor.

Member Typedef Documentation

◆ newton_meters_per_ampere_t

using frc::DCMotor::newton_meters_per_ampere_t = units::unit_t<units::compound_unit<units::newton_meters, units::inverse<units::ampere> >>

◆ radians_per_second_per_volt_t

using frc::DCMotor::radians_per_second_per_volt_t = units::unit_t<units::compound_unit<units::radians_per_second, units::inverse<units::volt> >>

Constructor & Destructor Documentation

◆ DCMotor()

constexpr frc::DCMotor::DCMotor	(	units::volt_t	nominalVoltage,
		units::newton_meter_t	stallTorque,
		units::ampere_t	stallCurrent,
		units::ampere_t	freeCurrent,
		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()

static constexpr DCMotor frc::DCMotor::Andymark9015 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Andymark 9015 motors.

◆ Bag()

static constexpr DCMotor frc::DCMotor::Bag ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Bag motor motors.

◆ BanebotsRS550()

static constexpr DCMotor frc::DCMotor::BanebotsRS550 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Banebots RS 550 motors.

◆ BanebotsRS775()

static constexpr DCMotor frc::DCMotor::BanebotsRS775 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Banebots RS 775 motors.

◆ CIM()

static constexpr DCMotor frc::DCMotor::CIM ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of CIM motors.

◆ Current()

constexpr units::ampere_t frc::DCMotor::Current	(	units::radians_per_second_t	speed,
		units::volt_t	inputVoltage
	)		const

inlineconstexpr

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

Parameters

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

◆ Falcon500()

static constexpr DCMotor frc::DCMotor::Falcon500 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Falcon 500 brushless motors.

◆ Falcon500FOC()

static constexpr DCMotor frc::DCMotor::Falcon500FOC ( int numMotors = 1 )

inlinestaticconstexpr

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

◆ KrakenX60()

static constexpr DCMotor frc::DCMotor::KrakenX60 ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Kraken X60 brushless motors.

◆ KrakenX60FOC()

static constexpr DCMotor frc::DCMotor::KrakenX60FOC ( int numMotors = 1 )

inlinestaticconstexpr

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

◆ MiniCIM()

static constexpr DCMotor frc::DCMotor::MiniCIM ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of MiniCIM motors.

◆ NEO()

static constexpr DCMotor frc::DCMotor::NEO ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of NEO brushless motors.

◆ NEO550()

static constexpr DCMotor frc::DCMotor::NEO550 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of NEO 550 brushless motors.

◆ NeoVortex()

static constexpr DCMotor frc::DCMotor::NeoVortex ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Neo Vortex brushless motors.

◆ RomiBuiltIn()

static constexpr DCMotor frc::DCMotor::RomiBuiltIn ( int numMotors = 1 )

inlinestaticconstexpr

Return a gearbox of Romi/TI_RSLK MAX motors.

◆ RS775_125()

static constexpr DCMotor frc::DCMotor::RS775_125 ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Andymark RS 775-125 motors.

◆ Speed()

constexpr units::radians_per_second_t frc::DCMotor::Speed	(	units::newton_meter_t	torque,
		units::volt_t	inputVoltage
	)		const

inlineconstexpr

Returns the angular speed 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.

◆ Torque()

constexpr units::newton_meter_t frc::DCMotor::Torque ( units::ampere_t current ) const

inlineconstexpr

Returns torque produced by the motor with a given current.

Parameters

current The current drawn by the motor.

◆ Vex775Pro()

static constexpr DCMotor frc::DCMotor::Vex775Pro ( int numMotors = 1 )

inlinestaticconstexpr

Returns a gearbox of Vex 775 Pro motors.

◆ Voltage()

constexpr units::volt_t frc::DCMotor::Voltage	(	units::newton_meter_t	torque,
		units::radians_per_second_t	speed
	)		const

inlineconstexpr

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

Parameters

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

◆ WithReduction()

constexpr DCMotor frc::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

units::ampere_t frc::DCMotor::freeCurrent

Current draw under no load.

◆ freeSpeed

units::radians_per_second_t frc::DCMotor::freeSpeed

Angular velocity under no load.

◆ Kt

newton_meters_per_ampere_t frc::DCMotor::Kt

Motor torque constant.

◆ Kv

radians_per_second_per_volt_t frc::DCMotor::Kv

Motor velocity constant.

◆ nominalVoltage

units::volt_t frc::DCMotor::nominalVoltage

Voltage at which the motor constants were measured.

◆ R

units::ohm_t frc::DCMotor::R

Motor internal resistance.

◆ stallCurrent

units::ampere_t frc::DCMotor::stallCurrent

Current draw when stalled.

◆ stallTorque

units::newton_meter_t frc::DCMotor::stallTorque

Torque when stalled.

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

frc/system/plant/DCMotor.h

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()

◆ Falcon500()

◆ Falcon500FOC()

◆ KrakenX60()

◆ KrakenX60FOC()

◆ MiniCIM()

◆ NEO()

◆ NEO550()

◆ NeoVortex()

◆ RomiBuiltIn()

◆ RS775_125()

◆ Speed()

◆ Torque()

◆ Vex775Pro()

◆ Voltage()

◆ WithReduction()

Member Data Documentation

◆ freeCurrent

◆ freeSpeed

◆ Kt

◆ Kv

◆ nominalVoltage

◆ R

◆ stallCurrent

◆ stallTorque