DCMotor
- class wpimath.system.plant.DCMotor(nominalVoltage: wpimath.units.volts, stallTorque: wpimath.units.newton_meters, stallCurrent: wpimath.units.amperes, freeCurrent: wpimath.units.amperes, freeSpeed: wpimath.units.radians_per_second, numMotors: int = 1)
Bases:
pybind11_object
Holds the constants for a DC motor.
Constructs a DC motor.
- Parameters:
nominalVoltage – Voltage at which the motor constants were measured.
stallTorque – Torque when stalled.
stallCurrent – Current draw when stalled.
freeCurrent – Current draw under no load.
freeSpeed – Angular velocity under no load.
numMotors – Number of motors in a gearbox.
- static CIM(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of CIM motors.
- property Kt wpimath.units.volt_seconds
Motor torque constant.
- property Kv wpimath.units.radians_per_second_per_volt
Motor velocity constant.
- static NEO(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of NEO brushless motors.
- static NEO550(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of NEO 550 brushless motors.
- property R wpimath.units.ohms
Motor internal resistance.
- static RS775_125(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Andymark RS 775-125 motors.
- WPIStruct = <capsule object "WPyStruct">
- static andymark9015(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Andymark 9015 motors.
- static bag(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Bag motor motors.
- static banebotsRS550(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Banebots RS 550 motors.
- static banebotsRS775(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Banebots RS 775 motors.
- current(speed: wpimath.units.radians_per_second, inputVoltage: wpimath.units.volts) wpimath.units.amperes
Returns current drawn by motor with given speed and input voltage.
- Parameters:
speed – The current angular velocity of the motor.
inputVoltage – The voltage being applied to the motor.
- static falcon500(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Falcon 500 brushless motors.
- static falcon500FOC(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Return a gearbox of Falcon 500 motors with FOC (Field-Oriented Control) enabled.
- property freeCurrent wpimath.units.amperes
Current draw under no load.
- property freeSpeed wpimath.units.radians_per_second
Angular velocity under no load.
- static krakenX60(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Return a gearbox of Kraken X60 brushless motors.
- static krakenX60FOC(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Return a gearbox of Kraken X60 brushless motors with FOC (Field-Oriented Control) enabled.
- static miniCIM(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of MiniCIM motors.
- static neoVortex(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Return a gearbox of Neo Vortex brushless motors.
- property nominalVoltage wpimath.units.volts
Voltage at which the motor constants were measured.
- static romiBuiltIn(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Return a gearbox of Romi/TI_RSLK MAX motors.
- speed(torque: wpimath.units.newton_meters, inputVoltage: wpimath.units.volts) wpimath.units.radians_per_second
Returns the angular speed produced by the motor at a given torque and input voltage.
- Parameters:
torque – The torque produced by the motor.
inputVoltage – The input voltage provided to the motor.
- property stallCurrent wpimath.units.amperes
Current draw when stalled.
- property stallTorque wpimath.units.newton_meters
Torque when stalled.
- 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.
- static vex775Pro(numMotors: int = 1) wpimath._controls._controls.plant.DCMotor
Returns a gearbox of Vex 775 Pro motors.
- voltage(torque: wpimath.units.newton_meters, speed: 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.
speed – The current angular velocity of the motor.
- withReduction(gearboxReduction: float) wpimath._controls._controls.plant.DCMotor
Returns a copy of this motor with the given gearbox reduction applied.
- Parameters:
gearboxReduction – The gearbox reduction.