NextFTC Hardware/dev.nextftc.hardware.actuators/NextMotor

NextMotor

class NextMotor @JvmOverloads constructor(initializer: () -> DcMotorImplEx, var anglePerCount: Angle = 1.0.radians, cacheTolerance: Double = 0.01)

Comprehensive wrapper around a DcMotorImplEx supporting multiple control modes.

NextMotor provides a high-level interface for DC motor control including:

Throttle control: Direct power/PWM percentage.
Voltage control: Set power as a voltage relative to the input rail voltage.
Position control: PID-based regulation to reach and hold a target encoder position.
Velocity control: PID + feedforward to reach and hold a target velocity.

The motor wraps a DcMotorImplEx obtained lazily through an initializer, supporting construction from a Lynx module/port, hardware map name, or a raw initializer function.

Encoder readings are automatically converted to Angle and AngularVelocity using the configured anglePerCount conversion factor.

Example:

val motor = NextMotor("driveMotor", anglePerCount = 0.05.radians)
motor.setVelocitySetpoint(12.0.radiansPerSecond)

Parameters

initializer

A function that returns the backing DcMotorImplEx. Invoked lazily.

anglePerCount

Conversion factor from encoder counts to angle. Defaults to 1.0 radian.

cacheTolerance

Power caching tolerance to reduce redundant hardware writes. Defaults to 0.01.

Constructors

NextMotor

@JvmOverloads

constructor(initializer: () -> DcMotorImplEx, anglePerCount: Angle = 1.0.radians, cacheTolerance: Double = 0.01)

@JvmOverloads

constructor(module: NextLynxModule, port: Int, anglePerCount: Angle = 1.0.radians, cacheTolerance: Double = 0.01)

Constructs a motor from a Lynx hub module and port number.

@JvmOverloads

constructor(name: String, anglePerCount: Angle = 1.0.radians, cacheTolerance: Double = 0.01)

Constructs a motor by name from the current hardware map.

Types

Companion

object Companion

ControlType

sealed class ControlType

Motor control mode.

Direction

enum Direction : Enum<NextMotor.Direction>

Motor rotation direction.

ZeroPowerBehavior

enum ZeroPowerBehavior : Enum<NextMotor.ZeroPowerBehavior>

Motor zero power behavior.

Properties

absoluteEncoder

var absoluteEncoder: AnalogFeedback?

Optional external absolute encoder via analog feedback.

absoluteEncoderPosition

val absoluteEncoderPosition: Angle

Current absolute encoder position.

anglePerCount

var anglePerCount: Angle

controlType

var controlType: NextMotor.ControlType

Current active control mode (THROTTLE, VOLTAGE, POSITION, or VELOCITY).

direction

var direction: NextMotor.Direction

Motor rotation direction (FORWARD or REVERSE).

encoderPosition

val encoderPosition: Angle

Current encoder position in physical angle units.

encoderVelocity

val encoderVelocity: AngularVelocity

Current encoder velocity in physical angle per time units.

positionConstants

val positionConstants: MotorPositionConstants

Position control constants (PID and feedforward gains).

positionPID

val positionPID: PIDController

PID controller used for position setpoint tracking.

throttle

var throttle: Double

Set throttle control mode and power.

velocityConstants

val velocityConstants: MotorVelocityConstants

Velocity control constants (PID and feedforward gains).

velocityFF

val velocityFF: SimpleFeedforward

Feedforward calculator used in conjunction with velocity PID.

velocityPID

val velocityPID: PIDController

PID controller used for velocity setpoint tracking.

voltage

var voltage: Voltage

Returns the approximate motor voltage command.

zeroPowerBehavior

var zeroPowerBehavior: NextMotor.ZeroPowerBehavior

Motor zero power behavior (FLOAT or BRAKE).

Functions

@JvmOverloads

fun follow(motor: NextMotor, direction: NextMotor.Direction = Direction.FORWARD)

Configures this motor to follow another motor's behavior and align its rotation direction.

setAbsolutePositionSetpoint

fun setAbsolutePositionSetpoint(setpoint: Angle)

Set absolute position control mode and position setpoint.

setPositionSetpoint

fun setPositionSetpoint(setpoint: Angle)

Set position control mode and position setpoint.

setVelocitySetpoint

fun setVelocitySetpoint(setpoint: AngularVelocity)

Set velocity control mode and velocity setpoint.

update

fun update()

Updates the motor power based on the current active control mode.