Package frc.robot.devices.motor

Class MotorIO.MotorIOInputs

java.lang.Object
frc.robot.devices.motor.MotorIO.MotorIOInputs
Enclosing interface:
MotorIO
public static class MotorIO.MotorIOInputs extends Object
Container of motor state fields captured for telemetry. Units default to radians, seconds, Celsius, and Volts.

  • Field Details

    • positionRadians

      public double positionRadians
      Measured mechanism position in radians (post conversion).

    • positionDegrees

      public double positionDegrees
      Measured mechanism position in degrees (post conversion).

    • velocityRadPerSec

      public double velocityRadPerSec
      Measured mechanism velocity in radians per second (post conversion).

    • velocityMotorRpm

      public double velocityMotorRpm
      Measured motor shaft velocity in RPM (pre gear-reduction).

    • appliedVolts

      public edu.wpi.first.units.measure.Voltage appliedVolts
      Applied voltage from the motor controller output stage.

    • busVoltageVolts

      public double busVoltageVolts
      Bus voltage reported by the motor controller in volts.

    • commandedVolts

      public edu.wpi.first.units.measure.Voltage commandedVolts
      Last commanded voltage request (open-loop), if applicable.

    • supplyCurrentAmps

      public double supplyCurrentAmps
      Reported supply/phase current draw in amps.

    • temperatureCelsius

      public double temperatureCelsius
      Motor temperature in degrees Celsius.

    • targetPositionRads

      public double targetPositionRads
      Last commanded target position in radians, if applicable.

    • targetVelocityRadPerSec

      public double targetVelocityRadPerSec
      Last commanded target velocity in radians per second, if applicable.

  • Constructor Details

    • MotorIOInputs

      public MotorIOInputs()