core/com.asiankoala.koawalib.hardware.motor/MotorFactory

MotorFactory

class MotorFactory(name: String)

Constructors

fun MotorFactory(name: String)

Properties

val brake: MotorFactory

Set the motor mode to brake

val float: MotorFactory

Set the motor mode to float

val forward: MotorFactory

Set this motor's direction to forward (NOTE: Does not change encoder direction)

val highPriority: MotorFactory

Incrase the priority of the motor, updating it at normal speed

val lowPriority: MotorFactory

Lower the priority of the motor, updating it 3x slower than the control loop

val reverse: MotorFactory

Set this motor's direction to reverse (NOTE: Does not change encoder direction)

voltageCorrected

val voltageCorrected: MotorFactory

Enable voltage correction

Functions

fun build(): KMotor

Build the motor from the motor factory

fun createEncoder(encoderFactory: EncoderFactory): MotorFactory

Created an encoder association with this motor

fun pairEncoder(motor: KMotor, encoderFactory: EncoderFactory): MotorFactory

Pair this motor's encoder with another motor's encoder

withMotionProfileControl

fun withMotionProfileControl( pidGains: PIDGains, ffGains: FFGains, constraints: MotionConstraints, allowedPositionError: Double, disabledPosition: Double? = null): MotorFactory

Enable motion profile control in the motor

withPositionControl

fun withPositionControl( pidGains: PIDGains, ffGains: FFGains, allowedPositionError: Double, disabledPosition: Double? = null, bounds: Bounds = Bounds()): MotorFactory

Enable position PID control in the motor

withStaticFeedforward

fun withStaticFeedforward(ks: Double): MotorFactory

Add a static feedforward term to the motor. This is included in motor power calculatiosn regardless of motor mode (e.g. a motor with MotorControlModes.OPEN_LOOP with still calculate static feedforward). Used to deal with motor problems.

withVelocityControl

fun withVelocityControl( pidGains: PIDGains, kF: Double, allowedVelocityError: Double): MotorFactory

Enable velocity PID control in the motor