DCMotor

class wpimath.DCMotor(nominal_voltage: wpimath.units.volts, stall_torque: wpimath.units.newton_meters, stall_current: wpimath.units.amperes, free_current: wpimath.units.amperes, free_speed: wpimath.units.radians_per_second, num_motors: SupportsInt | SupportsIndex = 1)

Bases: pybind11_object

Holds the constants for a DC motor.

Constructs a DC motor.

Parameters:

  • nominal_voltage – Voltage at which the motor constants were measured.

  • stall_torque – Torque when stalled.

  • stall_current – Current draw when stalled.

  • free_current – Current draw under no load.

  • free_speed – Angular velocity under no load.

  • num_motors – Number of motors in a gearbox.

WPIStruct = <capsule object "WPyStruct">
static andymark9015(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Andymark 9015 motors.

static bag(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Bag motor motors.

static banebots_rs550(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Banebots RS 550 motors.

static banebots_rs775(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Banebots RS 775 motors.

static cim(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of CIM motors.

current(*args, **kwargs)

Overloaded function.

  1. current(self: wpimath._wpimath.DCMotor, velocity: wpimath.units.radians_per_second, input_voltage: wpimath.units.volts) -> wpimath.units.amperes

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

Parameters:

  • velocity – The current angular velocity of the motor.

  • input_voltage – The voltage being applied to the motor.

  1. current(self: wpimath._wpimath.DCMotor, torque: wpimath.units.newton_meters) -> wpimath.units.amperes

Returns current drawn by motor for a given torque.

Parameters:

torque – The torque produced by the motor.

static falcon500(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Falcon 500 brushless motors.

static falcon500_foc(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

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

static kraken_x44(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Return a gearbox of Kraken X44 brushless motors.

static kraken_x44_foc(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented Control) enabled.

static kraken_x60(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Return a gearbox of Kraken X60 brushless motors.

static kraken_x60_foc(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

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

static mini_cim(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of MiniCIM motors.

static minion(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Return a gearbox of Minion brushless motors.

static neo(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of NEO brushless motors.

static neo550(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of NEO 550 brushless motors.

static neo_vortex(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Return a gearbox of Neo Vortex brushless motors.

static romi_built_in(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Return a gearbox of Romi/TI_RSLK MAX motors.

static rs775_125(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Andymark RS 775-125 motors.

torque(current: wpimath.units.amperes) → wpimath.units.newton_meters

Returns torque produced by the motor with a given current.

Parameters:

current – The current drawn by the motor.

velocity(torque: wpimath.units.newton_meters, input_voltage: wpimath.units.volts) → wpimath.units.radians_per_second

Returns the angular velocity produced by the motor at a given torque and input voltage.

Parameters:

  • torque – The torque produced by the motor.

  • input_voltage – The input voltage provided to the motor.

static vex775_pro(num_motors: SupportsInt | SupportsIndex = 1) → wpimath._wpimath.DCMotor

Returns a gearbox of Vex 775 Pro motors.

voltage(torque: wpimath.units.newton_meters, velocity: wpimath.units.radians_per_second) → wpimath.units.volts

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

Parameters:

  • torque – The torque produced by the motor.

  • velocity – The current angular velocity of the motor.

with_reduction(gearbox_reduction: SupportsFloat | SupportsIndex) → wpimath._wpimath.DCMotor

Returns a copy of this motor with the given gearbox reduction applied.

Parameters:

gearbox_reduction – The gearbox reduction.