All motor parameters are presented in native engineering units (speed in RPM, voltage in Volts, position in rotations, current in Amps, etc.).įor teams which prefer to avoid CAN communication, Venom may be controlled through a PWM signal. There are no calculations required to convert encoder counts into speed. There are no concerns about mechanical compatibility between third party sensors. The motor controller and speed encoder were designed around the CIM (its rear bearing actually). Venom was designed for convenience and simplicity. WPILib compatible libraries for LabVIEW, C++, and Java are provided. All of these features are accessed via the CAN (Controller Area Network) interface, which is designed for FRC communication. There are also external inputs for limit switches and an analog signal. This includes proportional duty cycle and voltage control, closed-loop current (torque), speed, and servo (position) control, follow-the-leader, and motion profiling controls. So how "smart" is Venom? Speed, current, temperature, and position are all measured onboard, enabling advanced control modes without complicated sensing and wiring schemes. Venom integrates all of these functions into a single, compact package. The traditional CIM is a "dumb" motor, requiring a suite of external controllers and sensors. Venom is a brushed DC motor based on the original 2.5" CIM, which has been used by FIRST Robotics Competition teams for the past 18 years.
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