com.qualcomm.robotcore.hardware.configuration

Annotation Type MotorType

Deprecated.

Use MotorType instead. MotorType is an annotation with which a class or interface can be decorated in order to define a new kind of motor that can be configured in the robot configuration user interface.

@Documented
 @Target(value=TYPE)
 @Retention(value=RUNTIME)
 @Deprecated
public @interface MotorType

Required Element Summary

Required Elements

Modifier and Type	Required Element and Description
double	gearing Deprecated. Returns the number of revolutions of the actual motor for each revolution of the output shaft
double	maxRPM Deprecated. Returns the rated maximum no-load RPM of the motor output shaft
java.lang.String	name Deprecated. Returns the name to use when describing the class in configuration user interfaces.
double	ticksPerRev Deprecated. Returns the number of encoder ticks per revolution of the output shaft of the gearmotor.
java.lang.String	xmlTag Deprecated. Returns the XML tag to use to represent configured instances of the annotated class as recorded in saved robot configurations.

Optional Element Summary

Optional Elements

Modifier and Type	Optional Element and Description
double	achieveableMaxRPMFraction Deprecated. Returns the fraction of maxRPM which can be achieved in closed loop control
Rotation	orientation Deprecated. Indicates the direction of rotation in which encoder counts increase when looking down the motor shaft towards the motor.

Element Detail

xmlTag

public abstract java.lang.String xmlTag

Deprecated.

Returns the XML tag to use to represent configured instances of the annotated class as recorded in saved robot configurations. You should choose a tag that is different than any other sensor type.

Returns:

the XML tag to use for instances of the annotated sensor class

name

public abstract java.lang.String name

Deprecated.

Returns the name to use when describing the class in configuration user interfaces.

Returns:

the name to use for this kind of motor in user interfaces

ticksPerRev

public abstract double ticksPerRev

Deprecated.

Returns the number of encoder ticks per revolution of the output shaft of the gearmotor. Surprisingly, this can be a non-integer value; this can easily arise for motors which have encoders mounted before the gearbox rather than after.

Returns:

the number of encoder ticks per revolution of the output shaft of the gearmotor

gearing

public abstract double gearing

Deprecated.

Returns the number of revolutions of the actual motor for each revolution of the output shaft

Returns:

the number of revolutions of the actual motor for each revolution of the output shaft

maxRPM

public abstract double maxRPM

Deprecated.

Returns the rated maximum no-load RPM of the motor output shaft

Returns:

the rated maximum no-load RPM of the motor output shaft

achieveableMaxRPMFraction

public abstract double achieveableMaxRPMFraction

Deprecated.

Returns the fraction of maxRPM which can be achieved in closed loop control

Returns:

the fraction of maxRPM which can be achieved in closed loop control

Default:

0.85

orientation

public abstract Rotation orientation

Deprecated.

Indicates the direction of rotation in which encoder counts increase when looking down the motor shaft towards the motor.

Default:

org.firstinspires.ftc.robotcore.external.navigation.Rotation.CW