Grupo Motor#

Inicializando la clase MotorGroup #

Un objeto EXP MotorGroup se crea utilizando el siguiente constructor:

MotorGroup(motor1, motor2, …)

Puedes crear un MotorGroup con cualquier número de motores.

# Create 2 Motors, motor_1 and motor_2 in
# Ports 1 and 2 respectively. 
motor_1 = Motor(Ports.PORT1)
motor_2 = Motor(Ports.PORT2)
# Using the two previously created Motors, create a
# MotorGroup named motor_group_1.
motor_group_1 = MotorGroup(motor_1, motor_2)

This motor_group_1 object will be used in all subsequent examples throughout this API documentation when referring to MotorGroup class methods.

Métodos de clase #

spin()#

The spin(direction, velocity, units) method is used to spin all Motors in a MotorGroup 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
`direction`	A valid `DirectionType`.
`velocity`	Optional. The velocity at which the Motors in the MotorGroup will spin. The default velocity set by the `set_velocity()` method will be used.
`units`	Optional. A valid `VelocityUnit` or `PERCENT`. The default is `RPM`.

Devoluciones: Ninguna.

# Spin all Motors in motor_group_1 forward.
motor_group_1.spin(FORWARD)

spin_to_position()#

The spin_to_position(rotation, units, velocity, units_v, wait) method is used to spin all Motors in a MotorGroup 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
`rotation`	La posición para hacer girar los motores en un MotorGroup.
`units`	Optional. A valid `RotationUnit`. The default is `DEGREES`.
`velocity`	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the `set_velocity()` method will be used.
`units_v`	Optional. A valid `VelocityUnit` or `PERCENT`. The default is `RPM`.
`wait`	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 the Motors in motor_group_1 to the position 90
# degrees at 100 RPM.
motor_group_1.spin_to_position(90, DEGREES, 100, RPM)

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

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

Parámetros	Descripción
`direction`	A valid `DirectionType`.
`value`	El valor de los motores en un MotorGroup para girar.
`units`	Optional. A valid `RotationUnit`. The default is `DEGREES`.
`velocity`	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the `set_velocity()` method will be used.
`units_v`	Optional. A valid `VelocityUnit` or `PERCENT`. The default is `RPM`.
`wait`	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 the Motors in motor_group_1 forward for 10 turns
# at 100% velocity.
motor_group_1.spin_for(FORWARD, 10, TURNS, 100, PERCENT)

stop()#

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

Parámetros	Descripción
`mode`	Optional. A valid `BrakeType`. The default is `COAST`, unless previously changed using the `set_stopping()` method.

Devoluciones: Ninguna.

# Spin all Motors in motor_group_1 forward for 2.5 seconds.
motor_group_1.spin(FORWARD)

wait(2.5, SECONDS)

# Stop all Motos in motor_group_1 using the HOLD brake type.
motor_group_1.stop(HOLD)

count()#

The count() method returns the number of Motors in the MotorGroup.

Devuelve: La cantidad de motores en el MotorGroup.

set_velocity()#

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

Parámetros	Descripción
`velocity`	La nueva velocidad que se debe establecer para los motores de un grupo de motores.
`units`	A valid `VelocityUnit` or `PERCENT`.

Devoluciones: Ninguna.

# Spin the Motors in motor_group_1 forward at 75% velocity.
motor_group_1.set_velocity(75, PERCENT)

motor_group_1.spin(FORWARD)

set_stopping()#

The set_stopping(mode) method is used to set the stopping mode for all Motors in a MotorGroup.

Parámetros	Descripción
`mode`	A valid `BrakeType`.

Devoluciones: Ninguna.

reset_position()#

The reset_position() method resets the position of all Motors in a MotorGroup to 0. The position that is returned by the position() method will be updated to 0.

Devoluciones: Ninguna.

set_position()#

The set_position(value, units) method is used to set the position of all Motors in a MotorGroup. The position that is returned by the position() method will be updated to this new value.

Parámetros	Descripción
`value`	La nueva posición que se debe establecer para todos los motores de un grupo de motores.
`units`	A valid `RotationUnit`.

Devoluciones: Ninguna.

set_timeout()#

The set_timeout(value, units) method is used to set the timeout for all Motors in a MotorGroup. The position that is returned by the get_timeout() method will be updated to this new value.

Parámetros	Descripción
`value`	El nuevo tiempo de espera que se debe establecer para todos los motores en un MotorGroup.
`units`	Optional. A valid `TimeUnit`. The default is `MSEC`.

Devoluciones: Ninguna.

is_spinning()#

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

Returns: True if any Motor in the MotorGroup is still spinning. False if the Motors in the MotorGroup have completed the move or a timeout has occurred.

is_done()#

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

Returns: True if any Motor in the MotorGroup is still spinning. False if the Motors in the MotorGroup have 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 all Motors in a MotorGroup. The torque can be set as torque units, current units, or a percent of maximum torque.

Parámetros	Descripción
`value`	El nuevo par máximo para todos los motores de un grupo de motores.
`units`	A valid `TorqueUnit`, `AMP`, or `PERCENT`.

Devoluciones: Ninguna.

direction()#

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

Returns: The current DirectionType the first Motor in a MotorGroup is spinning.

position()#

The position(units) method returns the current position of the first Motor in a MotorGroup.

Parámetros	Descripción
`units`	Optional. A valid `RotationUnit`. The default is `DEGREES`.

Devuelve: La posición actual del primer motor en un grupo de motores en las unidades especificadas.

velocity()#

The velocity(units) method returns the current velocity of the first Motor in a MotorGroup.

Parámetros	Descripción
`units`	Optional. A valid `VelocityUnit`. The default is `RPM`.

Devuelve: La velocidad actual del primer motor en un grupo de motores en las unidades especificadas.

current()#

The current(units) method returns the total current being used by the Motors in a MotorGroup.

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

Devuelve: La corriente total consumida por los motores de un grupo de motores en las unidades especificadas.

power()#

The power(units) method returns the power the first Motor in a MotorGroup is providing.

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

Devuelve: La potencia que proporciona el primer motor de un grupo de motores en las unidades especificadas.

torque()#

The torque(units) method returns the torque the first Motor in a MotorGroup is providing.

Parámetros	Descripción
`units`	Optional. A valid `TorqueUnit`. The default is `NM`.

Devuelve: El torque que proporciona el primer motor de un grupo de motores en las unidades especificadas.

efficiency()#

The efficiency(units) method returns the efficiency of the first Motor in a MotorGroup.

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

Devuelve: La eficiencia del primer motor de un grupo de motores como porcentaje.

temperature()#

The temperature(units) method returns the temperature of the first Motor in a MotorGroup.

Parámetros	Descripción
`units`	Optional. A valid `TemperatureUnit`. The default is `CELSIUS`.

Devuelve: La temperatura del primer motor de un grupo de motores en las unidades especificadas.