Command/com.amarcolini.joos.hardware/Motor

Motor

public final class Motor implements Component

A wrapper for the DcMotorEx object in the FTC SDK.

Parameters

motor

The motor for the wrapper to use.

maxRPM

The maximum revolutions per minute of the motor.

TPR

The ticks per revolution of the motor.

Constructors

@JvmOverloads()

public Motor Motor(HardwareMap hMap, String id, Double maxRPM, Double TPR, NanoClock clock)

@JvmOverloads()

public Motor Motor(HardwareMap hMap, String id, Double maxRPM, Double TPR)

@JvmOverloads()

public Motor Motor(HardwareMap hMap, String id, Double maxRPM)

@JvmOverloads()

public Motor Motor(HardwareMap hMap, String id, Motor.Type type, NanoClock clock)

@JvmOverloads()

public Motor Motor(HardwareMap hMap, String id, Motor.Type type)

@JvmOverloads()

public Motor Motor(DcMotorEx motor, Motor.Type type, NanoClock clock)

@JvmOverloads()

public Motor Motor(DcMotorEx motor, Motor.Type type)

@JvmOverloads()

public Motor Motor(DcMotorEx motor, Double maxRPM, Double TPR, NanoClock clock)

@JvmOverloads()

public Motor Motor(DcMotorEx motor, Double maxRPM, Double TPR)

@JvmOverloads()

public Motor Motor(DcMotorEx motor, Double maxRPM)

Types

public final class Encoder

A wrapper for motor encoders in the FTC SDK.

public enum RunMode extends Enum<Motor.RunMode>

public enum Type extends Enum<Motor.Type>

A class with the specs of many motors so you don't have to find them.

ZeroPowerBehavior

public enum ZeroPowerBehavior extends Enum<Motor.ZeroPowerBehavior>

Properties

currentPosition

private final Integer currentPosition

The current position of the encoder (in ticks).

private final Double distance

The distance travelled by the motor. Computed using the encoder and distancePerTick.

distancePerTick

private Double distancePerTick

The distance per revolution travelled by the motor.

distanceVelocity

private final Double distanceVelocity

The velocity of the motor in distance per second. Computed using the encoder and distancePerTick.

public final Motor.Encoder encoder

private Feedforward feedforward

Feedforward used in RunMode.RUN_USING_ENCODER and optionally RunMode.RUN_WITHOUT_ENCODER. Note that these coefficients are applied to desired encoder tick velocity. This must be tuned in order for setTickVelocity, setDistanceVelocity, and setRPM to work.

public final DcMotorEx internal

maxDistanceVelocity

private final Double maxDistanceVelocity

The maximum achievable distance velocity of the motor, in units per second. Computed using maxTPS and distancePerTick.

public final Double maxRPM

public final Double maxTPS

The maximum achievable ticks per second of the motor. Computed using maxRPM and TPR.

private Double power

The percentage of power to the motor in the range [-1.0, 1.0].

private Boolean reversed

Whether the motor is reversed.

private final Angle rotation

The total rotation of the motor. Note that this value is positive or negative according to motor direction.

private Motor.RunMode runMode

private final Double targetVelocity

The target velocity of RunMode.RUN_USING_ENCODER in ticks per second.

public final Double TPR

private final Double velocity

The velocity of the motor, in ticks per second. Computed using the encoder.

veloCoefficients

private PIDCoefficients veloCoefficients

PID coefficients used in RunMode.RUN_USING_ENCODER.

zeroPowerBehavior

private Motor.ZeroPowerBehavior zeroPowerBehavior

Functions

getCurrentPosition

public final Integer getCurrentPosition()

public final Double getDistance()

getDistancePerTick

public final Double getDistancePerTick()

getDistanceVelocity

public final Double getDistanceVelocity()

public final Feedforward getFeedforward()

Feedforward used in RunMode.RUN_USING_ENCODER and optionally RunMode.RUN_WITHOUT_ENCODER. Note that these coefficients are applied to desired encoder tick velocity. This must be tuned in order for setTickVelocity, setDistanceVelocity, and setRPM to work.

getMaxDistanceVelocity

public final Double getMaxDistanceVelocity()

public final Double getPower()

public final Angle getRotation()

public final Motor.RunMode getRunMode()

getTargetVelocity

public final Double getTargetVelocity()

public final Double getVelocity()

getVeloCoefficients

public final PIDCoefficients getVeloCoefficients()

PID coefficients used in RunMode.RUN_USING_ENCODER.

getZeroPowerBehavior

public final Motor.ZeroPowerBehavior getZeroPowerBehavior()

public final Boolean isReversed()

public final Unit resetEncoder()

Resets the encoder.

public final Motor reversed()

Reverses the direction of the motor.

setDistancePerTick

public final Unit setDistancePerTick(Double distancePerTick)

setDistanceVelocity

@JvmOverloads()

public final Unit setDistanceVelocity(Double velocity)

@JvmOverloads()

public final Unit setDistanceVelocity(Double velocity, Double acceleration)

Sets the velocity of the motor in distance units per second.

public final Unit setFeedforward(Feedforward feedforward)

Feedforward used in RunMode.RUN_USING_ENCODER and optionally RunMode.RUN_WITHOUT_ENCODER. Note that these coefficients are applied to desired encoder tick velocity. This must be tuned in order for setTickVelocity, setDistanceVelocity, and setRPM to work.

public final Unit setPower(Double power)

public final Motor setReversed(Boolean reversed)

public final Unit setRPM(Double rpm)

Sets the velocity of the motor in revolutions per second.

public final Unit setRunMode(Motor.RunMode runMode)

setTickVelocity

@JvmOverloads()

public final Unit setTickVelocity(Double velocity)

@JvmOverloads()

public final Unit setTickVelocity(Double velocity, Double acceleration)

Sets the velocity of the motor in encoder ticks per second.

setVeloCoefficients

public final Unit setVeloCoefficients(PIDCoefficients veloCoefficients)

setZeroPowerBehavior

public final Unit setZeroPowerBehavior(Motor.ZeroPowerBehavior zeroPowerBehavior)

public Unit update()

Updates both RunMode.RUN_USING_ENCODER and RunMode.RUN_TO_POSITION. Running this method is not necessary for RunMode.RUN_WITHOUT_ENCODER.