Returns the previously set distance per tick. Note that this may not accurately reflect the actual distance per tick of all the motors, since they are independent of each other.

distanceVelocity

private final Double distanceVelocity

The average distance velocity of all motors in the group.

feedforward

private Feedforward feedforward

Returns the previously set feedforward. Note that this may not accurately reflect the actual feedforward of all the motors, since they are independent of each other.

maxDistanceVelocity

private final Double maxDistanceVelocity

The maximum distance velocity that all motors in the group can achieve.

maxRPM

@JvmField()

public final Double maxRPM

The maximum revolutions per minute that all motors in the group can achieve.

maxTPS

@JvmField()

public final Double maxTPS

The maximum ticks per second velocity that all motors in the group can achieve.

reversed

private Boolean reversed

Whether the motor group is reversed.

rotation

private final List<Angle> rotation

A list of the individual rotations of each motor.

runMode

private Motor.RunMode runMode

Returns the previously set run mode. Note that this may not accurately reflect the actual run mode of all the motors, since they are independent of each other.

velocity

private final Double velocity

The average velocity of all motors in the group.

veloCoefficients

private PIDCoefficients veloCoefficients

Returns the previously set PID coefficients. Note that this may not accurately reflect the actual coefficients of all the motors, since they are independent of each other.

zeroPowerBehavior

private Motor.ZeroPowerBehavior zeroPowerBehavior

Returns the previously set zero power behavior. Note that this may not accurately reflect the actual zero power behavior of all the motors, since they are independent of each other.

Functions

getCurrentPosition

public final Double getCurrentPosition()

getDistance

public final Double getDistance()

getDistancePerTick

public final Double getDistancePerTick()

Returns the previously set distance per tick. Note that this may not accurately reflect the actual distance per tick of all the motors, since they are independent of each other.

getDistances

public final List<Double> getDistances()

The distance that each motor in the group has travelled.

getDistanceVelocities

public final List<Double> getDistanceVelocities()

The distance velocity of each motor in the group.

getDistanceVelocity

public final Double getDistanceVelocity()

getFeedforward

public final Feedforward getFeedforward()

Returns the previously set feedforward. Note that this may not accurately reflect the actual feedforward of all the motors, since they are independent of each other.

getMaxDistanceVelocity

public final Double getMaxDistanceVelocity()

getPositions

public final List<Integer> getPositions()

The currentPosition that each motor in the group has travelled.

getRotation

public final List<Angle> getRotation()

getRunMode

public final Motor.RunMode getRunMode()

Returns the previously set run mode. Note that this may not accurately reflect the actual run mode of all the motors, since they are independent of each other.

getVelocities

public final List<Double> getVelocities()

The velocity of each motor in the group.

getVelocity

public final Double getVelocity()

getVeloCoefficients

public final PIDCoefficients getVeloCoefficients()

Returns the previously set PID coefficients. Note that this may not accurately reflect the actual coefficients of all the motors, since they are independent of each other.

getZeroPowerBehavior

public final Motor.ZeroPowerBehavior getZeroPowerBehavior()

Returns the previously set zero power behavior. Note that this may not accurately reflect the actual zero power behavior of all the motors, since they are independent of each other.

isReversed

public final Boolean isReversed()

resetEncoders

public final Unit resetEncoders()

Resets the encoders of all the motors in the group.

reversed

public final MotorGroup reversed()

Reverses the direction of the motor group.

setDistancePerTick