Motor

Inicializando la clase Motor

Un objeto EXP Motor se crea utilizando el siguiente constructor:

Motor(port, gears, reverse)

Este constructor toma tres parámetros como máximo.

Parámetro	Descripción
port	El puerto al que está conectado el motor en el cerebro EXP.
gears	Optional. Sets the gear setting installed in the Motor, the default is GearSetting.RATIO_18_1.
reverse	Optional. Sets whether the Motor’s spin should be reversed, the default is False.

# Construct a Motor object named motor_1 in Port 1 on 
# the EXP Brain which has the reverse flag set to True.
motor_1 = Motor(Ports.PORT1, True)

This motor_1 object will be used in all subsequent examples throughout this API documentation when referring to Motor class methods.

Métodos de clase

spin()

The spin(direction, velocity, units) method is used to spin a Motor in the specified direction until a spin or stop command is used, or the project is stopped.

Esta es una función sin espera y permite que el siguiente comando se ejecute sin demora.

Parámetros	Descripción
dirección	Un DirectionType válido.
velocidad	Optional. The velocity at which the Motor will spin. The default velocity set by the motor_1.set_velocity() command will be used.
unidades	Optional. A valid VelocityUnit or PERCENT. The default is RPM.

Devoluciones: Ninguna.

# Spin motor_1 forward.
motor_1.spin(FORWARD)

spin_to_position()

The spin_to_position(rotation, units, velocity, units_v, wait) method is used to spin a Motor to an absolute position using the provided arguments.

This function can be a waiting or non-waiting command depending on if the wait parameter is set to True.

Parámetros	Descripción
rotación	La posición a la que debe girar el motor.
unidades	Optional. A valid RotationUnit. The default is DEGREES.
velocidad	Optional. The velocity with which the Motor will spin. The default velocity set by the motor_1.set_velocity() command will be used.
unidades_v	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
esperar	Optional. Determines whether the command will block subsequent commands (wait=True) or allow immediate execution (wait=False). If unspecified, the default for The wait parameter is wait=True.

Devoluciones: Ninguna.

# Spin motor_1 to the position 90 degrees at 100 RPM.
motor_1.spin_to_position(90, DEGREES, 100, RPM)

spin_for()

The spin_for(direction, value, units, velocity, units_v, wait) method is used to spin the Motor for a specific duration, rotations, or until a specific encoder value is reached. The position is relative to the current position of the Motor.

This can be a waiting or non-waiting command depending on if the wait parameter is used.

Parámetros	Descripción
dirección	Un DirectionType válido.
valor	El valor al que debe girar el motor.
unidades	Optional. A valid RotationUnit. The default is DEGREES.
velocidad	Optional. The velocity with which the Motor will spin. The default velocity set by the motor_1.set_velocity() command will be used.
unidades_v	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
esperar	Optional. Determines whether the command will block subsequent commands (wait=True) or allow immediate execution (wait=False). If unspecified, the default for The wait parameter is wait=True.

Devoluciones: Ninguna.

# Spin motor_1 forward for 10 turns at 100 percent velocity.
motor_1.spin_for(FORWARD, 10, TURNS, 100, PERCENT)

stop()

The stop(mode) method is used to stop a Motor, setting them to 0 velocity and configuring the current stopping mode.

Parámetros	Descripción
modo	Optional. A valid BrakeType. The default is COAST, unless previously changed using the motor_1.set_stopping() command.

Devoluciones: Ninguna.

# Spin motor_1 forward for 2.5 seconds.
motor_1.spin(FORWARD)

wait(2.5, SECONDS)

# Stop motor_1 using the HOLD brake type.
motor_1.stop(HOLD)

set_velocity()

The set_velocity(velocity, units) method is used to set the default velocity for a Motor. This velocity setting will be used for subsequent calls to any motion functions if a specific velocity is not provided.

Parámetros	Descripción
velocidad	La nueva velocidad a establecer para el motor.
unidades	A valid VelocityUnit or PERCENT.

Devoluciones: Ninguna.

# Spin motor_1 forward at 75 percent velocity
motor_1.set_velocity(75, PERCENT)

motor_1.spin(FORWARD)

set_reversed()

The set_reversed(value) method sets the Motor direction to be reversed. This command works the same as setting the reverse parameter to True when constructing a Motor.

Parámetros	Descripción
valor	Valor booleano para establecer la dirección invertida o no.

Devoluciones: Ninguna.

set_stopping()

The set_stopping(mode) method is used to set the stopping mode for a Motor.

Parámetros	Descripción
modo	Un BrakeType válido.

Devoluciones: Ninguna.

reset_position()

The reset_position() method resets the Motor position to 0. The position that is returned by the motor_1.position() function will be updated to 0.

Devoluciones: Ninguna.

set_position()

The set_position(value, units) method is used to set the position of a Motor. The position that is returned by the motor_1.position() function will be updated to this new value.

Parámetros	Descripción
valor	La nueva posición a fijar para el motor.
unidades	Una RotationUnit válida.

Devoluciones: Ninguna.

set_timeout()

The set_timeout(value, units) method is used to set the timeout for a Motor. The position that is returned by the motor_1.get_timeout() function will be updated to this new value.

Parámetros	Descripción
valor	El nuevo tiempo de espera que se debe establecer para el motor.
unidades	Optional. A valid TimeUnit. The default is MSEC.

Devoluciones: Ninguna.

get_timeout()

The get_timeout() method returns the current timeout for a Motor.

Devuelve: El valor de tiempo de espera actual en milisegundos.

is_spinning()

The is_spinning() method returns the current status of the motor_1.spin_to_position() or motor_1.spin_for() commands. This function is used when False has been passed as the wait parameter in either command.

Returns: True if the Motor is still spinning. False if the Motor has completed the move or a timeout has occurred.

is_done()

The is_done() method returns the current status of the motor_1.spin_to_position() or motor_1.spin_for() commands. This function is used when False has been passed as the wait parameter in either command.

Returns: True if the Motor is still spinning. False if the Motor has completed the move or a timeout has occurred.

set_max_torque()

The set_max_torque(value, units) method is used to set the maximum torque for a Motor. The torque can be set as torque, current, or a percent of maximum torque.

Parámetros	Descripción
valor	El nuevo par máximo para un motor.
unidades	A valid TorqueUnit, AMP, or PERCENT.

Devoluciones: Ninguna.

direction()

The direction() method returns the current direction the Motor is spinning in.

Devuelve: El DirectionType actual en el que está girando el motor.

position()

The position(units) method returns the current position of the Motor.

Parámetros	Descripción
unidades	Optional. A valid RotationUnit. The default is DEGREES.

Devuelve: La posición actual del motor en las unidades especificadas.

velocity()

The velocity(units) method returns the current velocity of the Motor.

Parámetros	Descripción
unidades	Optional. A valid VelocityUnit. The default is RPM.

Devuelve: La velocidad actual del motor en las unidades especificadas.

current()

The current(units) method returns the current being used by the Motor.

Parámetros	Descripción
unidades	Optional. The only valid units for current are AMP or PERCENT.

Devuelve: La corriente que consume el motor en las unidades especificadas.

power()

The power(units) method returns the power being consumed by the Motor.

Parámetros	Descripción
unidades	Optional. The only valid units for power are WATT or PERCENT.

Devuelve: La potencia consumida por el motor en las unidades especificadas.

torque()

The torque(units) method returns the torque being generated by the Motor.

Parámetros	Descripción
unidades	Optional. A valid TorqueUnit. The default is NM.

Devuelve: El torque generado por el motor en las unidades especificadas.

efficiency()

The efficiency(units) method returns the efficiency of the Motor.

Parámetros	Descripción
unidades	Optional. The only valid unit for efficiency is PERCENT.

Devuelve: La eficiencia del motor como porcentaje.

temperature()

The temperature(units) method returns the temperature of the Motor.

Parámetros	Descripción
unidades	Optional. A valid TemperatureUnit. The default is CELSIUS.

Devuelve: La temperatura del motor en las unidades especificadas.

command()

The command(units) method returns the last velocity sent to the Motor.

Parámetros	Descripción
unidades	Optional. A valid VelocityUnit. The default is RPM.

Devuelve: La velocidad del comando del motor en las unidades especificadas.

installed()

The installed() method returns if the Motor is connected to the EXP Brain.

Returns: True if the Motor is connected. False if it is not.

timestamp()

The timestamp() method returns the timestamp of the last received status packet from the Motor.

Devuelve: La marca de tiempo del último paquete de estado recibido en milisegundos.