Command/com.amarcolini.joos.hardware/Motor

Motor

class Motor @JvmOverloads constructor(motor: DcMotorEx, val maxRPM: Double, val TPR: Double = 1.0, clock: NanoClock = NanoClock.system) : 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

constructor(hMap: HardwareMap, id: String, maxRPM: Double, TPR: Double = 1.0, clock: NanoClock = NanoClock.system)

constructor(hMap: HardwareMap, id: String, type: Motor.Type, clock: NanoClock = NanoClock.system)

constructor(motor: DcMotorEx, type: Motor.Type, clock: NanoClock = NanoClock.system)

constructor(motor: DcMotorEx, maxRPM: Double, TPR: Double = 1.0, clock: NanoClock = NanoClock.system)

Types

A wrapper for motor encoders in the FTC SDK.

enum RunMode : Enum<Motor.RunMode>

enum Type : Enum<Motor.Type>

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

ZeroPowerBehavior

enum ZeroPowerBehavior : Enum<Motor.ZeroPowerBehavior>

Properties

currentPosition

val currentPosition: Int

The current position of the encoder (in ticks).

val distance: Double

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

distancePerTick

var distancePerTick: Double

The distance per revolution travelled by the motor.

distanceVelocity

val distanceVelocity: Double

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

val encoder: Motor.Encoder

var 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.

val internal: DcMotorEx

maxDistanceVelocity

val maxDistanceVelocity: Double

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

val maxRPM: Double

val maxTPS: Double

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

var power: Double

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

@get:JvmName(name = "isReversed")

var reversed: Boolean

Whether the motor is reversed.

val rotation: Angle

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

var runMode: Motor.RunMode

val targetVelocity: Double

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

val TPR: Double = 1.0

val velocity: Double

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

veloCoefficients

var veloCoefficients: PIDCoefficients

PID coefficients used in RunMode.RUN_USING_ENCODER.

zeroPowerBehavior

var zeroPowerBehavior: Motor.ZeroPowerBehavior

Functions

fun resetEncoder()

Resets the encoder.

fun reversed(): Motor

Reverses the direction of the motor.

setDistanceVelocity

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

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

fun setReversed(reversed: Boolean): Motor

fun setRPM(rpm: Double)

Sets the velocity of the motor in revolutions per second.

setTickVelocity

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

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

open override fun update()

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