Package frc.robot.devices.motor

Class AbstractMotor

java.lang.Object
frc.robot.devices.motor.AbstractMotor
All Implemented Interfaces:
Motor, MotorIO
Direct Known Subclasses:
AbstractSimMotor, AbstractVelocityMotor, HarvesterMotor, TurretMotor
public abstract class AbstractMotor extends Object implements Motor
Base wrapper around a REV SparkMax that standardizes configuration, unit conversions, and AdvantageKit telemetry.

All positions are expressed in radians and velocities in radians per second to align with WPILib math utilities. If a subsystem or config prefers degrees for readability, convert to radians at the call site (e.g., Units.degreesToRadians(...)).

  • Nested Class Summary

    Nested classes/interfaces inherited from interface frc.robot.devices.motor.MotorIO

    MotorIO.MotorIOInputs

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected final Logger
    log
    Shared logger instance used for warnings and verbose updates.
    protected final com.revrobotics.spark.SparkMax
    motor
    Hardware controller that actually drives the motor output.
    protected final String
    name
    Friendly name used in log messages and dashboard keys.
    protected static final double
    NOMINAL_VOLTAGE
    Nominal voltage used for reference calculations.

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    protected
    AbstractMotor(String name, MotorConfig config)
    Creates a motor wrapper backed by a shared motor config using the default brushless SparkMax type.
    protected
    AbstractMotor(String name, MotorConfig config, com.revrobotics.spark.SparkLowLevel.MotorType motorType)
    Creates a motor wrapper backed by a shared motor config and explicit motor type.

  • Method Summary

    Modifier and Type
    Method
    Description
    protected static double
    computeMechanismRadiansPerMotorRotation(double motorRotationsPerMechanismRotation)
    Converts a gear ratio in motor rotations per mechanism rotation into mechanism radians per motor rotation.
    protected abstract com.revrobotics.spark.config.SparkMaxConfig
    configureMotor(com.revrobotics.spark.config.SparkMaxConfig config)
    Allows subclasses to append motor-specific configuration before the object is applied to hardware.
    double
    getPositionRadians()
    Reports the current measured position in radians.
    double
    getVelocityRadiansPerSecond()
    Reports the current measured velocity in radians per second.
    edu.wpi.first.units.measure.Voltage
    getVoltage()
    Reports the applied voltage.
    final void
    init()
    Applies hardware configuration after the subclass has finished assigning its config.
    final boolean
    isInitialized()
    Reports whether the motor has been initialized with hardware configuration.
    void
    setEncoderPosition(double positionRadians)
    Overwrites the encoder's stored position so the mechanism's logical zero matches its physical location.
    void
    setVoltage(edu.wpi.first.units.measure.Voltage voltage)
    Commands the motor with a voltage request.
    void
    stop()
    Stops motor output immediately.
    void
    updateInputs(MotorIO.MotorIOInputs inputs)
    Populates the inputs structure with the most recent readings from the motor controller.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • NOMINAL_VOLTAGE

      protected static final double NOMINAL_VOLTAGE
      Nominal voltage used for reference calculations.

      Firmware-level voltage compensation is intentionally disabled on all motors because WPILib's MotorController.setVoltage() already scales duty cycle by the measured battery voltage. Enabling both creates double compensation that causes systematic overshoot when the battery sags below 12 V.

      See Also:

    • name

      protected final String name
      Friendly name used in log messages and dashboard keys.

    • log

      protected final Logger log
      Shared logger instance used for warnings and verbose updates.

    • motor

      protected final com.revrobotics.spark.SparkMax motor
      Hardware controller that actually drives the motor output.

  • Constructor Details

    • AbstractMotor

      protected AbstractMotor(String name, MotorConfig config)
      Creates a motor wrapper backed by a shared motor config using the default brushless SparkMax type.
      Parameters:
      name - friendly name for logging and dashboard keys
      config - motor configuration bundle providing CAN ID, inversion, and bounds

    • AbstractMotor

      protected AbstractMotor(String name, MotorConfig config, com.revrobotics.spark.SparkLowLevel.MotorType motorType)
      Creates a motor wrapper backed by a shared motor config and explicit motor type.
      Parameters:
      name - friendly name for logging and dashboard keys
      config - motor configuration bundle providing CAN ID, inversion, and bounds
      motorType - motor type (brushed or brushless)

  • Method Details

    • computeMechanismRadiansPerMotorRotation

      protected static double computeMechanismRadiansPerMotorRotation(double motorRotationsPerMechanismRotation)
      Converts a gear ratio in motor rotations per mechanism rotation into mechanism radians per motor rotation.
      Parameters:
      motorRotationsPerMechanismRotation - motor rotations per one mechanism rotation
      Returns:
      mechanism radians per motor rotation (defaults to 1:1 when the ratio is invalid)

    • init

      public final void init()
      Applies hardware configuration after the subclass has finished assigning its config.

      Call this once in the concrete motor constructor, after any config fields are assigned. Subsequent calls are ignored.

    • isInitialized

      public final boolean isInitialized()
      Reports whether the motor has been initialized with hardware configuration.
      Returns:
      true when init() has completed successfully

    • setVoltage

      public void setVoltage(edu.wpi.first.units.measure.Voltage voltage)
      Description copied from interface: Motor
      Commands the motor with a voltage request.

      Use this when closed-loop or feedforward logic has already computed the needed voltage. Implementations should apply the value immediately without additional scaling.

      Specified by:
      setVoltage in interface Motor
      Parameters:
      voltage - desired output voltage, in volts

    • stop

      public void stop()
      Stops motor output immediately.
      Specified by:
      stop in interface Motor

    • getPositionRadians

      public double getPositionRadians()
      Reports the current measured position in radians.

      The raw encoder value is in motor rotations. This method multiplies by the stored conversion factor to return mechanism radians. The conversion is done in Java rather than relying on SparkMax firmware conversion factors for reliability across REVLib versions.

      Specified by:
      getPositionRadians in interface Motor
      Returns:
      mechanism position (radians)

    • setEncoderPosition

      public void setEncoderPosition(double positionRadians)
      Overwrites the encoder's stored position so the mechanism's logical zero matches its physical location.

      The caller provides the value in mechanism radians. This method converts back to motor rotations before writing to the encoder.

      Specified by:
      setEncoderPosition in interface Motor
      Parameters:
      positionRadians - new encoder position in mechanism radians

    • getVelocityRadiansPerSecond

      public double getVelocityRadiansPerSecond()
      Reports the current measured velocity in radians per second.

      The raw encoder value is in motor RPM. This method multiplies by the stored conversion factor to return mechanism radians per second. The conversion is done in Java rather than relying on SparkMax firmware conversion factors for reliability across REVLib versions.

      Specified by:
      getVelocityRadiansPerSecond in interface Motor
      Returns:
      mechanism velocity (radians/second)

    • getVoltage

      public edu.wpi.first.units.measure.Voltage getVoltage()
      Description copied from interface: Motor
      Reports the applied voltage.

      Use this for logging or validation that the controller output matches expectations.

      Specified by:
      getVoltage in interface Motor
      Returns:
      voltage applied to the motor, in volts

    • updateInputs

      public void updateInputs(MotorIO.MotorIOInputs inputs)
      Description copied from interface: MotorIO
      Populates the inputs structure with the most recent readings from the motor controller.
      Specified by:
      updateInputs in interface MotorIO
      Parameters:
      inputs - mutable inputs container to fill for logging

    • configureMotor

      protected abstract com.revrobotics.spark.config.SparkMaxConfig configureMotor(com.revrobotics.spark.config.SparkMaxConfig config)
      Allows subclasses to append motor-specific configuration before the object is applied to hardware.
      Parameters:
      config - initial SparkMaxConfig with default voltage compensation
      Returns:
      configured SparkMaxConfig ready for SparkMax.configure(com.revrobotics.spark.config.SparkBaseConfig, com.revrobotics.spark.SparkBase.ResetMode, com.revrobotics.spark.SparkBase.PersistMode)