Motor Type - Minion Setting

Due to differences in motor phase wire colors, the Minion motor must run with a special config settable in Thrifty Config. This will allow teams to run either REV motors or CTRE motors without changing phase wires.

To change this on Thrifty Config:

Thrifty Config has a dropdown allowing users to select between the default REV option (for Neo-type motors) and the CTRE (Minion) mode.

To change this via the API:

Basic Setup

javaCopy// For a NEO motor (default)
ThriftyNova neoMotor = new ThriftyNova(1);  // CAN ID 1

// For a Minion motor
ThriftyNova minionMotor = new ThriftyNova(2, ThriftyNova.MotorType.MINION);  // CAN ID 2

Example Application

javaCopypublic class RobotContainer {
    private ThriftyNova flywheel = new ThriftyNova(1);       // NEO for high-speed flywheel
    private ThriftyNova climber = new ThriftyNova(2, ThriftyNova.MotorType.MINION);  // Minion for climbing
    
    public RobotContainer() {
        // Configure flywheel for high speed
        flywheel.setMaxOutput(1.0)
                .setCurrentLimit(CurrentType.STATOR, 40);
                
        // Configure climber for high torque
        climber.setCurrentLimit(CurrentType.STATOR, 60)
               .setBrakeMode(true);
    }
}

You can also change motor types after initialization:

motor.setMotorType(ThriftyNova.MotorType.NEO);     // Switch to NEO
motor.setMotorType(ThriftyNova.MotorType.MINION);  // Switch to Minion

⚠️ Important: Always verify your motor type matches your physical hardware before running your robot.