Package org.texastorque.torquelib.legacy.base

Interface TorqueEncoderMotor

All Known Subinterfaces:
TorqueSmartMotor
All Known Implementing Classes:
TorqueFalcon, TorqueSparkMax, TorqueTalon
public interface TorqueEncoderMotor
Interface to include encoder feedback methods for motors.

  • Method Details

    • getPosition

      double getPosition()

    • getPositionDegrees

      double getPositionDegrees()

    • getPositionRotations

      double getPositionRotations()

    • getVelocity

      double getVelocity()

    • getVelocityRPS

      double getVelocityRPS()

    • getVelocityRPM

      double getVelocityRPM()

    • getAcceleration

      double getAcceleration()

    • getAccelerationRPS

      double getAccelerationRPS()

    • getAccelerationRPM

      double getAccelerationRPM()

    • getWheelRPM

      static double getWheelRPM(TorqueEncoderMotor motor, double gearRatio)
      Finds velocity of a drive wheel in RPMs.
      Parameters:
      motor - Torque motor that implements TorqueEncoderMotor.
      gearRatio - The gear ratio of the wheel.
      Returns:
      RPM of the wheel.

    • getWheelVelocity

      static double getWheelVelocity(TorqueEncoderMotor motor, double gearRatio, double wheelRadiusMeters)
      Finds Velocity of a Drive Wheel in meters per second
      Parameters:
      motor - Torque motor that implements TorqueEncoderMotor.
      gearRatio - The gear ratio of the wheel.
      wheelRadiusMeters - Radius of the wheel in meters.
      Returns:
      Velocity of the wheel in m/s.