Package com.crossbotics.ftchelper.robot

Class Motors

java.lang.Object

com.crossbotics.ftchelper.robot.Motors

public final class Motors
extends Object

Encoder counts per turn and top speed of the common FTC motors, by the same ids as the simulator's parts catalog (sim/parts/parts.json, docs/guides/parts-catalog.md): "gobilda-5203-312", "rev-hd-hex-20"... Modules use it to turn a motor id into encoder counts per degree or per wheel turn.

The numbers are copied from the parts catalog, which has each seller's page and the date it was checked; a test checks that they still match it. Docs: docs/modules/robot.md

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	Motors.Kind	One motor: encoder counts per output-shaft turn, and its free (no-load) speed in RPM.

Method Summary

Modifier and Type	Method	Description
static Map<String,Motors.Kind>	all()	Every known motor, in catalog order (read only).
static Motors.Kind	get(String id)	The motor with this id.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

get

public static Motors.Kind get(String id)

The motor with this id.

Parameters:

id - e.g. "gobilda-5203-312"

Throws:

IllegalArgumentException - for an unknown id, with the list of known ones

all

public static Map<String,Motors.Kind> all()

Every known motor, in catalog order (read only).