Movimiento

Introducción

Los comandos GO Motion permiten que los motores giren, mantengan la posición y controlen la velocidad y el torque con precisión.

For the examples below, the configured motor will be named arm. This name is used in all subsequent examples throughout this API documentation when referring to Motor class methods.

A continuación se muestra una lista de todos los métodos:

Actions — Control the movement of motors.

• spin — Spins a motor in a specified direction indefinitely.

• spin_for — Spins a motor for a specified distance.

• spin_to_position — Spins a motor to an absolute position.

• stop — Stops a motor.

Mutators — Change the motor’s different attributes.

• set_velocity — Sets the default velocity for the motor.

• set_max_torque — Sets the maximum torque for a motor.

• set_position — Sets the motor’s position to a specific value.

• set_stopping — Sets the stop behavior (brake, coast, or hold).

• set_timeout — Limits how long a motor function waits before giving up if movement is blocked.

Getters — Return data from motors.

• get_position — Returns a motor’s current position.

• get_velocity — Returns a motor’s current velocity.

• get_current — Returns the current being used by a motor.

• is_stopped — Returns whether a motor is currently not spinning.

• is_moving — Returns whether a motor is currently spinning.

Comportamiento

spin

spin hace girar el motor en una dirección específica indefinidamente.

Usage:
arm.spin(direction)

Parámetros	Descripción
direction	La dirección en la que debe girar el motor: FORWARD REVERSE

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in reverse, then stop
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.stop()

# Start threads — Do not delete
start_thread(main)

spin_for

spin_for hace girar el motor en una dirección específica para un ángulo específico.

Usage:
arm.spin_for(direction, angle, wait)

Parámetros	Descripción
direction	La dirección en la que debe girar el motor: FORWARD REVERSE
angle	The number of degrees the motor will spin as a float or integer.
wait	Optional. wait=True (default) — The project waits until spin_for is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for spin_for to finish.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in both directions
    arm.spin_for(REVERSE, 180)
    arm.spin_for(FORWARD, 180)

# Start threads — Do not delete
start_thread(main)

spin_to_position

spin_to_position gira el motor a una posición absoluta.

Usage:
arm.spin_to_position(angle, wait)

Parámetros	Descripción
angle	La posición en la que debe girar el motor como un flotante o un número entero.
wait	Optional. wait=True (default) — The project waits until spin_to_position is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for spin_to_position to finish.

# Build Used: Competition Advanced 2.0
def main():
    # Put motor at 0 position after spinning
    arm.set_position(0)
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.spin_to_position(0)

# Start threads — Do not delete
start_thread(main)

stop

stop detiene el giro de un motor.

Usage:
arm.stop()

Parámetros	Descripción
	Este método no tiene parámetros.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in reverse, then stop
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.stop()

# Start threads — Do not delete
start_thread(main)

Mutadores

set_velocity

set_velocity establece la velocidad predeterminada de un motor. Este ajuste de velocidad se utilizará en las llamadas posteriores a cualquier función de motor.

Usage:
arm.set_velocity(velocity)

Parámetros	Descripción
velocity	The velocity at which the motor will spin as a percent.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor at different velocities
    arm.spin_for(REVERSE, 180)
    wait(1, SECONDS)
    # Spin slower
    arm.set_velocity(20)
    arm.spin_for(FORWARD, 180)
    wait(1, SECONDS)
    # Spin faster
    arm.set_velocity(100)
    arm.spin_for(REVERSE, 180)

# Start threads — Do not delete
start_thread(main)

set_max_torque

set_max_torque establece el torque máximo para un motor.

Usage:
arm.set_max_torque(value)

Parámetros	Descripción
value	The new maximum torque for the motor as a float or integer in percent.

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor at different torques
    arm.spin_for(REVERSE, 180)
    wait(1, SECONDS)
    # Less torque
    arm.set_max_torque(20)
    arm.spin_for(FORWARD, 180)
    wait(1, SECONDS)
    # More torque
    arm.set_max_torque(100)
    arm.spin_for(REVERSE, 180)

# Start threads — Do not delete
start_thread(main)

set_position

set_position establece la posición de un motor.

Usage:
arm.set_position(position)

Parámetros	Descripción
position	La nueva posición como un entero en grados.

# Build Used: Competition Advanced 2.0
def main():
    # Position the motor at the new 0 degrees
    arm.set_position(180)
    arm.spin_to_position(0)

# Start threads — Do not delete
start_thread(main)

set_stopping

set_stopping establece el modo de parada de un motor.

Usage:
arm.set_stopping(mode)

Parámetros	Descripción
mode	How the motor will stop: BRAKE — Stops immediately. COAST — Slows gradually to a stop. HOLD — Stops and resists movement using motor feedback.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in reverse then coast to a stop
    arm.set_velocity(100)
    arm.set_stopping(COAST)
    arm.spin(REVERSE)
    wait(2, SECONDS)
    arm.stop()

# Start threads — Do not delete
start_thread(main)

set_timeout

set_timeout establece un límite de tiempo que una función del motor esperará para alcanzar su objetivo. Si el motor no puede completar el movimiento dentro del tiempo establecido, se detendrá automáticamente y continuará con la siguiente función.

Note: The motor’s time limit prevents motor functions that do not reach their target position from blocking the execution of the rest of the project.

Usage:
arm.set_timeout(value, units)

Parámetros	Descripción
value	El número máximo de segundos que una función de motor se ejecutará antes de detenerse y pasar a la siguiente función como un entero o un punto flotante.
units	Optional. The unit that represents the time: SECONDS (default) MSEC — Milliseconds

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor for one and a half seconds then reset
    arm.set_position(0)
    arm.set_timeout(1.5, SECONDS)
    arm.spin_for(REVERSE, 1000)
    arm.spin_to_position(0)

# Start threads — Do not delete
start_thread(main)

Captadores

get_position

get_position returns the current position of the motor as an integer or float in degrees.

Usage:
arm.get_position()

Parámetros	Descripción
	Este método no tiene parámetros.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor while monitoring the position
    console.print("Start: ")
    console.print(arm.get_position())
    console.new_line()
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.stop()
    console.print("After: ")
    console.print(arm.get_position())

# Start threads — Do not delete
start_thread(main)

get_velocity

get_velocity returns the current velocity of the motor as an integer or float in percent.

Usage:
arm.get_velocity()

Parámetros	Descripción
	Este método no tiene parámetros.

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor and display the velocity
    console.print("Start: ")
    console.print(arm.get_velocity())
    console.new_line()
    arm.spin(REVERSE)
    wait(1, SECONDS)
    console.print("Moving: ")
    console.print(arm.get_velocity())
    arm.stop()

# Start threads — Do not delete
start_thread(main)

get_current

get_current returns the current of the motor in amps.

Usage:
arm.get_current()

Parámetros	Descripción
	Este método no tiene parámetros.

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor and display the current
    console.print("Start: ")
    console.print(arm.get_current())
    console.new_line()
    arm.spin(REVERSE)
    wait(1, SECONDS)
    console.print("Moving: ")
    console.print(arm.get_current())
    arm.stop()

# Start threads — Do not delete
start_thread(main)

is_stopped

is_stopped returns a Boolean indicating whether or not the motor is stopped.

• True — The motor is stopped.

• False — The motor is spinning.

Usage:
arm.is_stopped()

Parámetros	Descripción
	Este método no tiene parámetros.

# Build Used: Competition Advanced 2.0
def main():
    # Turn the eye light on when moving
    arm.spin_for(REVERSE, 200, wait=False)
    wait(0.1, SECONDS)
    while True:
        if arm.is_stopped():
            eye.set_light(OFF)
        else:
            eye.set_light(ON)

# Start threads — Do not delete
start_thread(main)

is_moving

is_moving returns a Boolean indicating whether or not the motor is stopped.

• True — The motor is spinning.

• False — The motor is stopped.

Usage:
arm.is_moving()

Parámetros	Descripción
	Este método no tiene parámetros.

# Build Used: Competition Advanced 2.0
def main():
    # Turn the eye light on while moving
    arm.spin_for(FORWARD, 200, wait=False)
    wait(0.1, SECONDS)
    while True:
        if arm.is_moving():
            eye.set_light(ON)
        else:
            eye.set_light(OFF)

# Start threads — Do not delete
start_thread(main)