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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-11-01 09:39:08 -07:00
parent def7849909 e45aadc851
commit cc043df07f
61 changed files with 455 additions and 941 deletions
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36
wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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@@ -308,6 +308,42 @@ public class DCMotor implements ProtobufSerializable, StructSerializable {
12, 9.37, 483, 2, Units.rotationsPerMinuteToRadiansPerSecond(5800), numMotors);
}
/**
* Return a gearbox of Kraken X44 brushless motors.
*
* @param numMotors Number of motors in the gearbox.
* @return a gearbox of Kraken X44 motors.
*/
public static DCMotor getKrakenX44(int numMotors) {
// From https://motors.ctr-electronics.com/dyno/dynometer-testing/
return new DCMotor(
12, 4.11, 279, 2, Units.rotationsPerMinuteToRadiansPerSecond(7758), numMotors);
}
/**
* Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented Control) enabled.
*
* @param numMotors Number of motors in the gearbox.
* @return A gearbox of Kraken X44 FOC enabled motors.
*/
public static DCMotor getKrakenX44Foc(int numMotors) {
// From https://motors.ctr-electronics.com/dyno/dynometer-testing/
return new DCMotor(
12, 5.01, 329, 2, Units.rotationsPerMinuteToRadiansPerSecond(7368), numMotors);
}
/**
* Return a gearbox of Minion brushless motors.
*
* @param numMotors Number of motors in the gearbox.
* @return A gearbox of Minion motors.
*/
public static DCMotor getMinion(int numMotors) {
// From https://motors.ctr-electronics.com/dyno/dynometer-testing/
return new DCMotor(
12, 3.17, 211, 2, Units.rotationsPerMinuteToRadiansPerSecond(7704), numMotors);
}
/**
* Return a gearbox of Neo Vortex brushless motors.
*