Command/com.amarcolini.joos.hardware/MotorGroup

MotorGroup

class MotorGroup(motors: List<Motor>) : Component, List<Motor>

A class that runs multiple motors together as a unit.

Constructors

constructor(vararg motors: Motor)

constructor(vararg motors: MotorGroup)

Constructs a motor group out of several motor groups.

constructor(hMap: HardwareMap, maxRPM: Double, TPR: Double = 1.0, vararg ids: String)

constructor(hMap: HardwareMap, type: Motor.Type, vararg ids: String)

constructor(hMap: HardwareMap, maxRPM: Double, TPR: Double = 1.0, vararg ids: Pair<String, Boolean>)

constructor(hMap: HardwareMap, type: Motor.Type, vararg ids: Pair<String, Boolean>)

constructor(motors: List<Motor>)

Properties

currentPosition

val currentPosition: Double

The average currentPosition that all motors in the group have travelled.

val distance: Double

The average distance that all motors in the group have travelled.

distancePerTick

var distancePerTick: Double

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

val distanceVelocity: Double

The average distance velocity of all motors in the group.

var 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

val maxDistanceVelocity: Double

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

val maxRPM: Double

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

val maxTPS: Double

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

@get:JvmName(name = "isReversed")

var reversed: Boolean

Whether the motor group is reversed.

val rotation: List<Angle>

A list of the individual rotations of each motor.

var runMode: Motor.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.

val velocity: Double

The average velocity of all motors in the group.

veloCoefficients

var veloCoefficients: PIDCoefficients

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

var zeroPowerBehavior: Motor.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

fun getDistances(): List<Double>

The distance that each motor in the group has travelled.

getDistanceVelocities

fun getDistanceVelocities(): List<Double>

The distance velocity of each motor in the group.

fun getPositions(): List<Int>

The currentPosition that each motor in the group has travelled.

fun getVelocities(): List<Double>

The velocity of each motor in the group.

fun resetEncoders()

Resets the encoders of all the motors in the group.

fun reversed(): MotorGroup

Reverses the direction of the motor group.

setDistanceVelocities

fun setDistanceVelocities(velocities: List<Double>, accelerations: List<Double> = emptyList())

Sets the velocities/accelerations of each motor in encoder ticks per second.

setDistanceVelocity

fun setDistanceVelocity(velocity: Double, acceleration: Double = 0.0)

Sets the velocity/acceleration of all motors in distance units per second.

fun setPower(power: Double)

Sets the percentage of power/velocity of all motors in the range [-1.0, 1.0].

fun setPowers(powers: List<Double>)

Sets the percentage of power/velocity of each motor in the range [-1.0, 1.0].

fun setReversed(reversed: Boolean): MotorGroup

fun setRPM(rpm: Double)

Sets the velocity of all motors in revolutions per second.

setTickVelocities

fun setTickVelocities(velocities: List<Double>, accelerations: List<Double> = emptyList())

Sets the velocities/accelerations of each motor in encoder ticks per second.

setTickVelocity

fun setTickVelocity(velocity: Double, acceleration: Double = 0.0)

Sets the velocity/accleration of all motors in encoder ticks per second.

open override fun update()

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