Motors

Motor Descriptions Link

Motor Configuration

There are three basic usage modes for the motors: 1. run at a specific speed - usually measured in revolutions per minute or RPM 2. go to a specific angle - usually measured in degrees or radians - this one usually uses an external absolute angle encoder (CANcoder) that tells the motor its position at startup. 3. turn a specific distance - usually measured in encoder "ticks", meters, or inches - this one uses a mechanical "stop" position as the zero reference or a sensor (like a magnetic sensor) to detect when it is at the reference position

Below are the 4 main types of motors we use and how to configure them

Name	Kraken	Falcon	NEO	BAG
Company	CTRE	CTRE	REV	VEX
Motor Type	BLDC+E	BLDC+E	BLDC+E	BDC
Software Api	Pheonix6 TanonFX	Phoenix6 TanonFX	CANSparkMax	TalonSRX
TED Example	swerve drive	swerve steer, shooter angle	intake, climber	feeder
Usage	run at a specific speed	go to a specific angle using a CANcoder angle reference go to a specific angle	run at a specific speed turn a specific distance (uses Rev "smart motion" functionality)	run at a (not very well controlled) speed. Because it's not an encoded motor, we can't command it very precisely.
Configuration Software	configuration software	configuration software (showing two angle reference options 1) a CANcoder and 2) an absolute reference at startup) configuration software (showing using two different PID settings for high and low speed operation)	configuration software configuration software	configuration software
Controller Configuration Software	configuration values configuration values applied to config		climber: controller configuration software
Configuration Values

Terminology: - TED: 2024 competition robot - BLDC-E: Brushless DC motors w/ encoder

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Bag Motor specs: - https://www.cclmotors.com/public/assets/common/images/product/product/product-77/spec.pdf?1703915315 - https://motors.vex.com/vexpro-motors/bag-motor -