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[wpimath] Add DCMotor factory function for Romi motors (#3319)

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This commit is contained in:
Tyler Veness
2021-04-29 09:59:35 -07:00
committed by GitHub
parent 936d3b9f83
commit ee0eed143a
2 changed files with 19 additions and 0 deletions
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11
wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java
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@@ -180,4 +180,15 @@ public class DCMotor {
return new DCMotor(
12, 4.69, 257, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(6380.0), numMotors);
}
/**
* Return a gearbox of Romi/TI_RSLK MAX motors.
*
* @param numMotors Number of motors in the gearbox.
*/
public static DCMotor getRomiBuiltIn(int numMotors) {
// From https://www.pololu.com/product/1520/specs
return new DCMotor(
4.5, 0.1765, 1.25, 0.13, Units.rotationsPerMinuteToRadiansPerSecond(150.0), numMotors);
}
}

8
wpimath/src/main/native/include/frc/system/plant/DCMotor.h
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@@ -149,6 +149,14 @@ class DCMotor {
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 Romi/TI_RSLK MAX motors.
*/
static constexpr DCMotor RomiBuiltIn(int numMotors = 1) {
// From https://www.pololu.com/product/1520/specs
return DCMotor(4.5_V, 0.1765_Nm, 1.25_A, 0.13_A, 150_rpm, numMotors);
}
};
} // namespace frc