BunyipsLib/org.murraybridgebunyips.bunyipslib/Motor

Motor

open class Motor : DcMotorImplEx

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 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(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

encoder

val encoder: Encoder

mode

open var mode: DcMotor.RunMode

Inherited properties

controller

protected open var controller: DcMotorController

direction

protected open var direction: DcMotorSimple.Direction

motorType

protected open var motorType: MotorConfigurationType

portNumber

protected open var portNumber: Int

targetPositionTolerance

open var targetPositionTolerance: Int

Functions

getAcceleration

open fun getAcceleration(): Double

getCurrentPosition

open fun getCurrentPosition(): Int

getRunToPositionController

open fun getRunToPositionController(): Optional<SystemController>

getRunUsingEncoderController

open fun getRunUsingEncoderController(): Optional<SystemController>

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

isBusy

open fun ~~isBusy~~(): Boolean

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

resetEncoder

open fun resetEncoder()

Reset the encoder value without stopping the motor.

scheduleRunToPositionGains

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

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.

setMaxPower

open fun setMaxPower(magnitude: Double)

Sets the maximum power magnitude (applies for both negative and positive powers) this motor can run at.

setPower

open fun setPower(power: Double)

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

setPowerDeltaThreshold

open fun setPowerDeltaThreshold(magnitude: Double)

Set the delta in power required to propagate a hardware write.

setPowerRefreshRate

open fun setPowerRefreshRate(refreshRate: Measure<Time>)

Set the refresh rate of the motor that will be a minimum time between hardware writes.

setRunToPositionController

open fun setRunToPositionController(controller: SystemController)

Set a system controller to use for RUN_TO_POSITION.

setRunUsingEncoderController

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

Set a system controller to use for RUN_USING_ENCODER.

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, unit: AngleUnit)

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

useEncoderOverflowCorrection

open fun useEncoderOverflowCorrection()

Call to use encoder overflow (exceeding 32767 ticks/sec) correction on getVelocity.