DCMotor

class wpimath.system.plant.DCMotor(nominalVoltage: volts, stallTorque: newton_meters, stallCurrent: amperes, freeCurrent: amperes, freeSpeed: 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 instance of CIM.

property Kt

property Kv

static NEO(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of NEO brushless motor.

static NEO550(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of NEO 550 brushless motor.

property R

static RS775_125(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of Andymark RS 775-125.

static andymark9015(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of Andymark 9015.

static bag(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of Bag motor.

static banebotsRS550(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of Banebots RS 550.

static banebotsRS775(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of Banebots RS 775.

current(speed: radians_per_second, inputVoltage: volts) → 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 instance of Falcon 500 brushless motor.

property freeCurrent

property freeSpeed

static miniCIM(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Returns instance of MiniCIM.

property nominalVoltage

static romiBuiltIn(numMotors: int = 1) → wpimath._controls._controls.plant.DCMotor: Return a gearbox of Romi/TI_RSLK MAX motors.

speed(torque: newton_meters, inputVoltage: volts) → radians_per_second

Returns the 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

property stallTorque

torque(current: amperes) → 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 instance of Vex 775 Pro.

voltage(torque: newton_meters, speed: radians_per_second) → 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.