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Motor Controllers

Autumn edited this page Apr 25, 2023 · 1 revision

General Wrappered CAN Motor Controllers

WrapperedCANMotorCtrl serves as the interface for all wrappered motors, it allows for easy swapping between TalonSRX/FX, Spark Max, & Venom controllers without the need to change more than one variable.

Supported Devices

  • Talon FX
  • Talon SRX
  • Spark Max
  • Venom

Features

Simulation

  • Fully simulateable with Wpilib DCMotor class
  • All features below supported

Control

  • PID
  • Arbitrary FF
  • Reset distance
  • Inversion
  • Neutral Mode
  • Override Default Native Units
  • Set Speed
  • Set Voltage

Data

  • Current draw
  • Voltage draw
  • Speed radpersecond & rpm
  • Position radians
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