> For the complete documentation index, see [llms.txt](https://yagsl.gitbook.io/yams/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yagsl.gitbook.io/yams/documentation/how-to/how-do-i-use-a-dcmotor-that-isnt-in-wpilib.md).

# How do I use a DCMotor that isn't in WPILib?

Sometimes the motor you're using is so new that no one has PR'd it into WPILIb.

{% @github-files/github-code-block url="<https://github.com/wpilibsuite/allwpilib/blob/main/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java#L166-L175>" %}

Creating your own `DCMotor` isn't too difficult and can be done easily if you use ReCa.lc to fill in the blanks

{% embed url="<https://www.reca.lc/motors>" %}

{% @github-files/github-code-block url="<https://github.com/wpilibsuite/allwpilib/blob/main/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java#L45-L61>" %}

For example a [Minion](https://store.ctr-electronics.com/products/minion-brushless-motor) would be

```java
int numMotors = 1;
new DCMotor(12, 3.1, 200.46, 1.43, RPM.of(7200).in(RadiansPerSecond), numMotors);
```


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