Class YMotors

java.lang.Object

yams.core.motorcontrollers.YMotors

public final class YMotors
extends Object

DCMotor models of motors WPILib does not have a model of.

The motor controller wrappers recognize a motor by comparing its DCMotor with these (see SmartMotorController.isMotor(DCMotor, DCMotor)), so use them rather than building your own from the same specs.

This class will be deleted once WPILib has a DCMotor of the Thrifty Pulsar. Use WPILib's then.

Method Summary

Modifier and Type	Method	Description
static org.wpilib.math.system.DCMotor	getThriftyPulsar(int numMotors)	The Thrifty Pulsar 775, from Thrifty's specs: 12 V, 3.1 N-m and 189 A stalled, and 2.7 A at 7500 RPM free.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

getThriftyPulsar

public static org.wpilib.math.system.DCMotor getThriftyPulsar(int numMotors)

The Thrifty Pulsar 775, from Thrifty's specs: 12 V, 3.1 N-m and 189 A stalled, and 2.7 A at 7500 RPM free. A Talon FXS drives it as a NEO.

YAMG generates the same model as new DCMotor(12.0, 3.1, 189.0, 2.7, 7500 * 2 * Math.PI / 60, numMotors). Keep the two the same, since the comparison is exact.

Parameters:

numMotors - How many Pulsars are in the gearbox.

Returns:

The Thrifty Pulsar's DCMotor.