com.qualcomm.robotcore.hardware.configuration.annotations

Annotation Type MotorType

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

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.

Must be accompanied by DeviceProperties annotation

Required Element Summary

Required Elements

Modifier and Type	Required Element and Description
double	gearing Returns the number of revolutions of the actual motor for each revolution of the output shaft
double	maxRPM Returns the rated maximum no-load RPM of the motor output shaft
double	ticksPerRev Returns the number of encoder ticks per revolution of the output shaft of the gearmotor.

Optional Element Summary

Optional Elements

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

Element Detail

ticksPerRev

public abstract double ticksPerRev

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

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

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

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

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