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.
