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
dirección	Un DirectionType válido.
velocidad	Optional. The velocity at which the Motors in the MotorGroup will spin. The default velocity set by the `set_velocity()` method will be used.
unidades	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
rotación	La posición para hacer girar los motores en un MotorGroup.
unidades	Optional. A valid RotationUnit. The default is `DEGREES`.
velocidad	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the `set_velocity()` method 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 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
dirección	Un DirectionType válido.
valor	El valor de los motores en un MotorGroup para girar.
unidades	Optional. A valid RotationUnit. The default is `DEGREES`.
velocidad	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the `set_velocity()` method 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 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
modo	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
velocidad	La nueva velocidad que se debe establecer para los motores de un grupo de motores.
unidades	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
modo	Un BrakeType válido.

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
valor	La nueva posición que se debe establecer para todos los motores de un grupo de motores.
unidades	Una RotationUnit válida.

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
valor	El nuevo tiempo de espera que se debe establecer para todos los motores en un MotorGroup.
unidades	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
valor	El nuevo par máximo para todos los motores de un grupo de motores.
unidades	A valid TorqueUnit, `AMP`, or `PERCENT`.

Devoluciones: Ninguna.

direction()#

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

Devuelve: El DirectionType actual en el que está girando el primer motor de un MotorGroup.

position()#

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

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

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