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[wpimath] Add FOC-enabled Falcon constants to the DCMotor class (#5469)

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This commit is contained in:
Mihir Patankar
2023-07-24 23:16:48 -04:00
committed by GitHub
parent 1938251436
commit 552f4b76b5
2 changed files with 46 additions and 25 deletions
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38
wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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@@ -21,10 +21,10 @@ public class DCMotor {
* Constructs a DC motor.
*
* @param nominalVoltageVolts Voltage at which the motor constants were measured.
* @param stallTorqueNewtonMeters Torque when stalled in Newton-meters.
* @param stallCurrentAmps Current draw when stalled in amps.
* @param freeCurrentAmps Current draw under no load in amps.
* @param freeSpeedRadPerSec Angular velocity under no load in radians per second.
* @param stallTorqueNewtonMeters Torque when stalled.
* @param stallCurrentAmps Current draw when stalled.
* @param freeCurrentAmps Current draw under no load.
* @param freeSpeedRadPerSec Angular velocity under no load.
* @param numMotors Number of motors in a gearbox.
*/
public DCMotor(
@@ -47,10 +47,10 @@ public class DCMotor {
}
/**
* Estimate the current being drawn by this motor.
* Calculate current drawn by motor with given speed and input voltage.
*
* @param speedRadiansPerSec The speed of the motor.
* @param voltageInputVolts The input voltage.
* @param speedRadiansPerSec The current angular velocity of the motor.
* @param voltageInputVolts The voltage being applied to the motor.
* @return The estimated current.
*/
public double getCurrent(double speedRadiansPerSec, double voltageInputVolts) {
@@ -58,20 +58,20 @@ public class DCMotor {
}
/**
* Calculate the torque produced by the motor for a given current.
* Calculate torque produced by the motor with a given current.
*
* @param currentAmpere The current drawn by the motor.
* @return The torque produced.
* @return The torque output.
*/
public double getTorque(double currentAmpere) {
return currentAmpere * KtNMPerAmp;
}
/**
* Calculate the voltage provided to the motor at a given torque and angular velocity.
* Calculate the voltage provided to the motor for a given torque and angular velocity.
*
* @param torqueNm The torque produced by the motor.
* @param speedRadiansPerSec The speed of the motor.
* @param speedRadiansPerSec The current angular velocity of the motor.
* @return The voltage of the motor.
*/
public double getVoltage(double torqueNm, double speedRadiansPerSec) {
@@ -79,11 +79,11 @@ public class DCMotor {
}
/**
* Calculate the speed of the motor at a given torque and input voltage.
* Calculates the angular speed produced by the motor at a given torque and input voltage.
*
* @param torqueNm The torque produced by the motor.
* @param voltageInputVolts The voltage applied to the motor.
* @return The speed of the motor.
* @return The angular speed of the motor.
*/
public double getSpeed(double torqueNm, double voltageInputVolts) {
return voltageInputVolts * KvRadPerSecPerVolt
@@ -227,6 +227,18 @@ public class DCMotor {
12, 4.69, 257, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(6380.0), numMotors);
}
/**
* Return a gearbox of Falcon 500 motors with FOC (Field-Oriented Control) enabled.
*
* @param numMotors Number of motors in the gearbox.
* @return A gearbox of Falcon 500 FOC enabled motors.
*/
public static DCMotor getFalcon500Foc(int numMotors) {
// https://store.ctr-electronics.com/falcon-500-powered-by-talon-fx/
return new DCMotor(
12, 5.84, 304, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(6080.0), numMotors);
}
/**
* Return a gearbox of Romi/TI_RSLK MAX motors.
*

33
wpimath/src/main/native/include/frc/system/plant/DCMotor.h
View File

@@ -97,7 +97,7 @@ class WPILIB_DLLEXPORT DCMotor {
}
/**
* Returns the speed produced by the motor at a given torque and input
* Returns the angular speed produced by the motor at a given torque and input
* voltage.
*
* @param torque The torque produced by the motor.
@@ -119,82 +119,91 @@ class WPILIB_DLLEXPORT DCMotor {
}
/**
* Returns instance of CIM.
* Returns a gearbox of CIM motors.
*/
static constexpr DCMotor CIM(int numMotors = 1) {
return DCMotor(12_V, 2.42_Nm, 133_A, 2.7_A, 5310_rpm, numMotors);
}
/**
* Returns instance of MiniCIM.
* Returns a gearbox of MiniCIM motors.
*/
static constexpr DCMotor MiniCIM(int numMotors = 1) {
return DCMotor(12_V, 1.41_Nm, 89_A, 3_A, 5840_rpm, numMotors);
}
/**
* Returns instance of Bag motor.
* Returns a gearbox of Bag motor motors.
*/
static constexpr DCMotor Bag(int numMotors = 1) {
return DCMotor(12_V, 0.43_Nm, 53_A, 1.8_A, 13180_rpm, numMotors);
}
/**
* Returns instance of Vex 775 Pro.
* Returns a gearbox of Vex 775 Pro motors.
*/
static constexpr DCMotor Vex775Pro(int numMotors = 1) {
return DCMotor(12_V, 0.71_Nm, 134_A, 0.7_A, 18730_rpm, numMotors);
}
/**
* Returns instance of Andymark RS 775-125.
* Returns a gearbox of Andymark RS 775-125 motors.
*/
static constexpr DCMotor RS775_125(int numMotors = 1) {
return DCMotor(12_V, 0.28_Nm, 18_A, 1.6_A, 5800_rpm, numMotors);
}
/**
* Returns instance of Banebots RS 775.
* Returns a gearbox of Banebots RS 775 motors.
*/
static constexpr DCMotor BanebotsRS775(int numMotors = 1) {
return DCMotor(12_V, 0.72_Nm, 97_A, 2.7_A, 13050_rpm, numMotors);
}
/**
* Returns instance of Andymark 9015.
* Returns a gearbox of Andymark 9015 motors.
*/
static constexpr DCMotor Andymark9015(int numMotors = 1) {
return DCMotor(12_V, 0.36_Nm, 71_A, 3.7_A, 14270_rpm, numMotors);
}
/**
* Returns instance of Banebots RS 550.
* Returns a gearbox of Banebots RS 550 motors.
*/
static constexpr DCMotor BanebotsRS550(int numMotors = 1) {
return DCMotor(12_V, 0.38_Nm, 84_A, 0.4_A, 19000_rpm, numMotors);
}
/**
* Returns instance of NEO brushless motor.
* Returns a gearbox of NEO brushless motors.
*/
static constexpr DCMotor NEO(int numMotors = 1) {
return DCMotor(12_V, 2.6_Nm, 105_A, 1.8_A, 5676_rpm, numMotors);
}
/**
* Returns instance of NEO 550 brushless motor.
* Returns a gearbox of NEO 550 brushless motors.
*/
static constexpr DCMotor NEO550(int numMotors = 1) {
return DCMotor(12_V, 0.97_Nm, 100_A, 1.4_A, 11000_rpm, numMotors);
}
/**
* Returns instance of Falcon 500 brushless motor.
* Returns a gearbox of Falcon 500 brushless motors.
*/
static constexpr DCMotor Falcon500(int numMotors = 1) {
return DCMotor(12_V, 4.69_Nm, 257_A, 1.5_A, 6380_rpm, numMotors);
}
/**
* Return a gearbox of Falcon 500 motors with FOC (Field-Oriented Control)
* enabled.
*/
static constexpr DCMotor Falcon500FOC(int numMotors = 1) {
// https://store.ctr-electronics.com/falcon-500-powered-by-talon-fx/
return DCMotor(12_V, 5.84_Nm, 304_A, 1.5_A, 6080_rpm, numMotors);
}
/**
* Return a gearbox of Romi/TI_RSLK MAX motors.
*/