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[wpimath] DCMotor: Add X44 and Minion (#8319)

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This commit is contained in:
Dalton Smith
2025-11-01 12:19:36 -04:00
committed by GitHub
parent b7fe5ef833
commit fea6883d98
2 changed files with 61 additions and 0 deletions
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36
wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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@@ -310,6 +310,42 @@ 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.
*

25
wpimath/src/main/native/include/frc/system/plant/DCMotor.h
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@@ -247,6 +247,31 @@ class WPILIB_DLLEXPORT DCMotor {
return DCMotor(12_V, 9.37_Nm, 483_A, 2_A, 5800_rpm, numMotors);
}
/**
* Return a gearbox of Kraken X44 brushless motors.
*/
static constexpr DCMotor KrakenX44(int numMotors = 1) {
// From https://motors.ctr-electronics.com/dyno/dynometer-testing/
return DCMotor(12_V, 4.11_Nm, 279_A, 2_A, 7758_rpm, numMotors);
}
/**
* Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented
* Control) enabled.
*/
static constexpr DCMotor KrakenX44FOC(int numMotors = 1) {
// From https://motors.ctr-electronics.com/dyno/dynometer-testing/
return DCMotor(12_V, 5.01_Nm, 329_A, 2_A, 7368_rpm, numMotors);
}
/**
* Return a gearbox of Minion brushless motors.
*/
static constexpr DCMotor Minion(int numMotors = 1) {
// From https://motors.ctr-electronics.com/dyno/dynometer-testing/
return DCMotor(12_V, 3.17_Nm, 211_A, 2_A, 7704_rpm, numMotors);
}
/**
* Return a gearbox of Neo Vortex brushless motors.
*/