Controlador de motor 55#

Introducción#

The motor55 class is used to control a VEX Motor Controller 55 connected to the EXP Brain. The Motor Controller 55 is a legacy motor controller designed to operate 2-wire DC motors.

The VEX Motor Controller 55.

Constructores de clases#

1 — Creates a motor55 object on the specified Smart Port.

motor55(
  int32_t index );

2 — Creates a motor55 object on the specified Smart Port and changes the positive turning direction.

motor55(
  int32_t index,
  bool    reverse );

3 — Creates a motor55 object on the specified Smart Port, sets the maximum drive voltage, and changes the positive turning direction.

motor55(
  int32_t index,
  double  maxv,
  bool    reverse );

Instructor de clase#

Destroys the motor55 object and releases associated resources.

~motor55();

Parámetros#

Parámetro

Tipo

Descripción

index

int32_t

The Smart Port that the Motor Controller 55 is connected to, written as PORTx, where x is the port number (for example, PORT1).

reverse

bool

Determines whether the motor’s direction is reversed:

  • true — The motor’s positive direction is reversed.
  • false — The motor’s positive direction remains normal.

maxv

double

La tensión máxima que el controlador de motor 55 puede aplicar al motor.

Ejemplo#

// Create the motor55 instance in Smart Port 1
motor55 Motor1 = motor55(PORT1);

Funciones de los miembros#

The motor55 class includes the following member functions:

  • spin — Spins the motor in a specified direction.

  • stop — Stops the motor.

  • setVelocity — Tells the DC motor how fast to spin.

  • setStopping — Sets the stopping behavior (coast or brake).

  • setReversed — Sets whether the motor’s direction is reversed.

  • current — Returns the motor’s electrical current.

  • voltage — Returns the motor’s electrical voltage.

  • temperature — Returns the motor temperature.

  • getMotorType — Returns the detected motor/controller type.

  • installed — Returns whether the Motor Controller 55 is detected on the specified Smart Port.

Before calling any motor55 member functions, an instance must be created, as shown below:

/* This constructor is required when using VS Code.
Motor Controller 55 configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the motor55 instance in Smart Port 1
motor55 MC55_1 = motor55(PORT1);

spin#

Hace girar el motor en la dirección especificada de forma indefinida.

Funciones disponibles

1 — Gira usando la velocidad configurada actualmente.

void spin(
  directionType dir );

2 — Gira al voltaje especificado.

void spin(
  directionType dir,
  double        voltage,
  voltageUnits  units );

Parámetros

Parámetro

Tipo

Descripción

dir

directionType

The direction in which the motor spins: forward or reverse.

voltage

double

The voltage value applied to the motor. A negative value spins opposite the given dir.

units

voltageUnits

The unit used to represent voltage:

  • volt — volts
  • voltageUnits::mV — millivolts

Valores de retorno

Esta función no devuelve ningún valor.

Notas

  • Esta función no requiere espera y el programa continúa inmediatamente después de la llamada.

  • The motor will continue spinning until stop is called or another spin is used.

stop#

Detiene el giro del motor utilizando el modo de freno configurado actualmente.

Funciones disponibles 

void stop();

Parámetros

Esta función no requiere ningún parámetro.

Valores de retorno

Esta función no devuelve ningún valor.

Notas

  • Stops the motor using the currently configured stopping mode set by setStopping.

setVelocity#

Tells a DC motor how fast to spin. A higher percentage makes the DC motor spin faster and a lower percentage makes the DC motor spin slower.

Every project begins with each connected DC motor spinning at 50% velocity by default.

Funciones disponibles 

void setVelocity(
    double       velocity,
    percentUnits units = percent );

Parámetros

Parámetro

Tipo

Descripción

velocity

double

The velocity to spin with from 0% to 100% when using percent.

units

percentUnits

The velocity unit: percent / pct — percent.

Valores de retorno

Esta función no devuelve ningún valor.

Notas

  • Any subsequent call to spin without a specified voltage will use this value.

setStopping#

Define cómo se comporta un motor cuando se detiene.

Funciones disponibles 

void setStopping(
    brakeType mode );

Parámetros

Parámetro

Tipo

Descripción

mode

brakeType

The stopping mode applied when stop is called:

  • coast — Motor coasts to a stop
  • brake — Motor stops quickly using braking

Valores de retorno

Esta función no devuelve ningún valor.

Notas

  • Any subsequent call to stop will use this stopping mode.

  • The Motor Controller 55 supports coast and brake only. hold is not supported.

setReversed#

Establece si se invierte el sentido de giro del motor.

Funciones disponibles 

void setReversed(
    bool value );

Parámetros

Parámetro

Tipo

Descripción

value

bool

Whether the motor’s direction is reversed:

  • true — Reverses the motor’s direction.
  • false — Returns the motor’s direction to its default.

Valores de retorno

Esta función no devuelve ningún valor.

Notas

  • Calling setReversed is the same as changing the reverse parameter in the constructor.

current#

current returns how much electrical current the DC motor is using. Current is the amount of electricity flowing through the DC motor. When returned in amps, current is reported from 0.0 to 1.2 A.

A higher current value means the DC motor is using more electrical current. This can happen when the DC motor is lifting something heavy, pushing against an object, or trying to move when it is stuck.

This can be used to check if the DC motor is struggling during a movement. If current stays high, the motor may get warmer or use power less efficiently.

Available Functions

1 — Returns the DC motor’s electrical current in amps.

double current(
  currentUnits units = amp );

2 — Returns the DC motor’s electrical current as a percentage of maximum rated current.

double current(
  percentUnits units );
Parameters

Parámetro

Tipo

Descripción

units

currentUnits

The unit used to represent current:amp (default) — amperes

units

percentUnits

Represents current as a percentage of the motor’s maximum rated current:percent / pct — percent
Return Values

Returns a double representing how much electrical current the DC motor is using in the specified units.

voltage#

Devuelve la tensión eléctrica suministrada al motor.

Available Functions 
double voltage(
  voltageUnits units = volt );

Parámetros

Parámetro

Tipo

Descripción

units

voltageUnits

The unit to represent the voltage:

  • volt (default)
  • voltageUnits::mV — millivolts

Valores de retorno

Returns a double representing the motor’s electrical voltage in the specified units.

temperature#

temperature returns the temperature of the DC motor.

Motor temperature shows how warm the DC motor is. A higher temperature means the DC motor is getting warmer while it works. The motor should stay below 55°C to keep working at full performance.

If the DC motor gets too hot, it will lower its maximum current to protect itself. At 70°C, the motor will stop running until it cools down.

This can be used to check if the DC motor is getting too hot during repeated movements, long runs, or when it is pushing against an object.

Available Functions

1 — Returns DC motor temperature as a percentage of maximum operating temperature.

double temperature(
  percentUnits units = percent );

2 — Returns DC motor temperature in physical temperature units.

double temperature(
  temperatureUnits units );

Parámetros

Parámetro

Tipo

Descripción

units

percentUnits

The unit used to represent DC motor temperature as a percentage:

  • percent / pct (default) — percent

units

temperatureUnits

The unit used to represent DC motor temperature in degrees:

  • celsius — degrees Celsius
  • fahrenheit — degrees Fahrenheit

Valores de retorno

Returns a double representing the DC motor’s temperature in the specified units.

Notas

  • The operating temperature range for the motor is approximately 20°C (68°F) to 70°C (158°F).

getMotorType#

Devuelve el tipo de motor/controlador detectado.

Funciones disponibles 

int32_t getMotorType();

Parámetros

Esta función no requiere ningún parámetro.

Valores de retorno

Returns an int32_t indicating the detected motor/controller type:

  • 0 — 11W Motor
  • 1 — 5.5W Motor
  • 2 — Motor Controller 55

installed#

Indica si el controlador de motor 55 está conectado al EXP Brain.

Available Functions 
bool installed();

Parámetros

Esta función no requiere ningún parámetro.

Valores de retorno

Returns a bool indicating if the Motor Controller 55 is connected.

  • true — The Motor Controller 55 is connected.
  • false — The Motor Controller 55 is not connected.
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