BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.hardware/Motor

Motor

open class Motor : SimpleRotator, DcMotorEx

Drop-in replacement for a DcMotor that uses custom control algorithms to operate RUN_USING_ENCODER and RUN_TO_POSITION modes. Internally integrates a gain scheduler to allow for more precise system coefficients against gravity and other external forces. This class effectively wraps an entire DcMotor and regulates all of the operations.

This class is designed to be down casted to a DcMotor where used, integrating with the current motor modes while providing faster, predictable control systems.

Author

Lucas Bubner, 2024

Since

4.0.0

Constructors

Motor

constructor(@NonNull motor: DcMotor)

Wrap a DcMotor to use in the Motor class.

Types

GainScheduling

open inner class GainScheduling

Gain scheduler builder which will interpolate on build and populate gains.

Properties

controller

protected val controller: DcMotorControllerEx

encoder

val encoder: Encoder

The encoder object that is used for position and velocity readings on this motor.

mode

@get:NonNull

open var mode: DcMotor.RunMode

port

protected val port: Int

Functions

debug

open fun debug(@NonNull motor: DcMotor, @NonNull name: String, @NonNull telemetry: Telemetry)

Utility for debugging an encoder on telemetry with current encoder/power information.

getAcceleration

open fun getAcceleration(): Double

getController

@NonNull

open fun getController(): DcMotorController

Returns the underlying motor controller on which this motor is situated.

getCurrent

open fun getCurrent(@NonNull unit: CurrentUnit): Double

Returns the current consumed by this motor.

getCurrentAlert

open fun getCurrentAlert(@NonNull unit: CurrentUnit): Double

Returns the current alert for this motor.

getCurrentPosition

open fun getCurrentPosition(): Int

getMotorType

@NonNull

open fun getMotorType(): MotorConfigurationType

Returns the assigned type for this motor.

getPIDCoefficients

@NonNull

open fun getPIDCoefficients(@NonNull mode: DcMotor.RunMode): PIDCoefficients

Returns the PID control coefficients used when running in the indicated mode on this motor.

getPIDFCoefficients

@NonNull

open fun getPIDFCoefficients(@NonNull mode: DcMotor.RunMode): PIDFCoefficients

Returns the PIDF control coefficients used when running in the indicated mode on this motor.

getPortNumber

open fun getPortNumber(): Int

Returns the port number on the underlying motor controller on which this motor is situated.

getPowerFloat

open fun getPowerFloat(): Boolean

Returns whether the motor is currently in a float power level.

getRunToPositionController

@Nullable

open fun getRunToPositionController(): SystemController

getRunUsingEncoderController

@Nullable

open fun getRunUsingEncoderController(): SystemController

getTargetPosition

open fun getTargetPosition(): Int

Returns the current target encoder position for this motor.

getTargetPositionTolerance

open fun ~~getTargetPositionTolerance~~(): Int

Note that this method will try to access the RUN_TO_POSITION controller to access information there.

getVelocity

open fun getVelocity(): Double

open fun getVelocity(@NonNull unit: AngleUnit): Double

Returns the current velocity of the motor, in angular units per second

getZeroPowerBehavior

@NonNull

open fun getZeroPowerBehavior(): DcMotor.ZeroPowerBehavior

Returns the current behavior of the motor were a power level of zero to be applied.

isBusy

open fun ~~isBusy~~(): Boolean

Note that this method will try to access the RUN_TO_POSITION controller to access information there.

isMotorEnabled

open fun isMotorEnabled(): Boolean

Returns whether this motor is energized

isOverCurrent

open fun isOverCurrent(): Boolean

Returns whether the current consumption of this motor exceeds the alert threshold.

resetEncoder

open fun resetEncoder()

Reset the encoder value without stopping the motor.

scheduleRunToPositionGains

@NonNull

open fun scheduleRunToPositionGains(): Motor.GainScheduling

Call to build a list of encoder tick positions where you want your RUN_TO_POSITION system controller gains to be.

scheduleRunUsingEncoderGains

@NonNull

open fun scheduleRunUsingEncoderGains(): Motor.GainScheduling

Call to build a list of encoder tick positions where you want your RUN_USING_ENCODER system controller gains to be.

setCurrentAlert

open fun setCurrentAlert(current: Double, @NonNull unit: CurrentUnit)

Sets the current alert for this motor

setMotorDisable

open fun setMotorDisable()

Individually de-energizes this particular motor

setMotorEnable

open fun setMotorEnable()

Individually energizes this particular motor

setMotorType

open fun setMotorType(@NonNull motorType: MotorConfigurationType)

Sets the assigned type of this motor.

setNominalVoltage

open fun setNominalVoltage(@NonNull nominalVoltage: Measure<Voltage>)

Sets the nominal voltage to use for power calculations.

setNominalVoltageSensor

open fun setNominalVoltageSensor(@NonNull nominalVoltageSensorMapping: HardwareMap.DeviceMapping<VoltageSensor>)

Sets a voltage sensor to use for nominal power calculation.

setPIDCoefficients

open fun setPIDCoefficients(@NonNull mode: DcMotor.RunMode, @NonNull pidCoefficients: PIDCoefficients)

Sets the PID control coefficients for one of the PID modes of this motor.

setPIDFCoefficients

open fun setPIDFCoefficients(@NonNull mode: DcMotor.RunMode, @NonNull pidfCoefficients: PIDFCoefficients)

This method is a superset enhancement to setPIDCoefficients.

setPositionPIDFCoefficients

open fun setPositionPIDFCoefficients(p: Double)

A shorthand for setting the P coefficient for the RUN_TO_POSITION mode.

setPower

open fun setPower(power: Double)

Update system controllers and propagate new power levels to the motor.

setPowerFloat

open fun ~~setPowerFloat~~()

Sets the zero power behavior of the motor to FLOAT, then applies zero power to that motor.

setRunToPositionController

open fun setRunToPositionController(@Nullable controller: SystemController)

Set a system controller to use for RUN_TO_POSITION.

setRunUsingEncoderController

open fun setRunUsingEncoderController(@Nullable controller: SystemController)

open fun setRunUsingEncoderController(bufferFraction: Double, @NonNull controller: SystemController)

open fun setRunUsingEncoderController(bufferFraction: Double, maxAchievableTicksPerSecond: Double, @Nullable controller: SystemController)

Set a system controller to use for RUN_USING_ENCODER.

setTargetPosition

open fun setTargetPosition(position: Int)

Sets the desired encoder target position to which the motor should advance or retreat and then actively hold thereat.

setTargetPositionTolerance

open fun ~~setTargetPositionTolerance~~(tolerance: Int)

Note that this method will try to access the RUN_TO_POSITION controller to access information there.

setVelocity

open fun setVelocity(vel: Double)

Switches the motor to velocity control and tries to set the ticks/sec target.

open fun setVelocity(angVel: Double, @NonNull unit: AngleUnit)

Switches the motor to velocity control and tries to set the angular velocity of the motor based on the intrinsic MotorConfigurationType configuration.

setVelocityPIDFCoefficients