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.