Motor

Introducción

La categoría de movimiento VEX IQ (2.ª generación) ofrece métodos para interactuar con motores y grupos de motores.

For the examples below, the configured motor will be named Motor1, and the configured motor group will be named MotorGroup1. They will be used in all subsequent examples throughout this API documentation when referring to motor and motor_group class methods.

A continuación se muestra una lista de todos los métodos:

Acciones – Controlar los movimientos de los motores.

• spin – Spins a motor or motor group in a specified direction indefinitely.

• spinFor – Spins a motor or motor group for a specified distance.

• spinToPosition – Spins a motor to an absolute position.

• stop – Stops a motor or motor group with configurable behavior.

Mutadores: cambian los diferentes atributos del motor.

• setVelocity – Sets the default velocity for the motor or motor group.

• setMaxTorque – Sets the maximum torque for a motor or motor group.

• setPosition – Sets the motor or motor group’s position to a specific value.

• setStopping – Sets the stop behavior (brake, coast, or hold).

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

• setReversed – Sets only a motor to have its direction be reversed.

• resetPosition – Sets only a motor’s position to 0.

Getters – Devuelven datos de los motores.

• isDone – Returns whether a motor or motor group is currently not spinning.

• isSpinning – Returns whether a motor or motor group is currently spinning.

• position – Returns a motor or motor group’s current position.

• velocity – Returns a motor or motor group’s current velocity.

• current – Returns the current being used by a motor or motor group.

• direction – Returns the spin direction of a motor or motor group.

• power – Returns the amount of power being used by a motor or motor group.

• torque – Returns the torque generated by a motor or motor group.

• efficiency – Returns the efficiency of a motor or motor group.

• temperature – Returns the temperature of a motor or motor group.

• count – Returns the amount of motors in a motor group.

Constructores: inicializan y configuran manualmente motores y grupos de motores.

• motor – Creates a motor.

• motor_group – Creates a motor group.

Comportamiento

spin

spin spins a motor or motor group in the specified direction indefinitely.

Default Usage:
Motor1.spin(direction);

Overload Usages:
Motor1.spin(direction, velocity, velocityUnits);
Motor1.spin(direction, voltage, voltageUnits);

Parámetros	Descripción
direction	The direction in which to spin the motor or motor group: forward reverse
velocity	La velocidad a la que girará el motor o el grupo de motores es el doble.
velocityUnits	The unit that will represent the velocity: percent dps – degrees per second rpm – rotations per minute
voltage	El voltaje con el que girará el motor.
voltageUnits	The unit that will represent the voltage: voltageUnits::volt – volts voltageUnits::mV – millivolts

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin forward, then stop
  Motor1.spin(forward);
  wait(1, seconds);
  Motor1.stop();
}

spinFor

spinFor spins a Motor or Motor Group for a set amount in a specified direction.

Default Usage:
Motor1.spinFor(direction, rotation, units, wait);

Overload Usages:
Motor1.spinFor(rotation, units, velocity, units_v, wait);
Motor1.spinFor(direction, rotation, units, velocity, units_v, wait);
Motor1.spinFor(rotation, units, wait);
Motor1.spinFor(time, units_t, velocity, units_v);
Motor1.spinFor(direction, time, units_t, velocity, units_v);
Motor1.spinFor(time, units_t);
Motor1.spinFor(direction, time, units_t);

Parámetros	Descripción
direction	The direction in which to spin the motor or motor group: forward reverse
rotation	¿Hasta dónde girará el motor?
units	The unit that will represent the rotation: degrees turns
wait	Optional. true (default) – The robot waits until spinFor is complete before executing the next line of code. false – The robot starts the action and moves on to the next line of code right away, without waiting for spinFor to finish.
velocity	La velocidad a la que girará el motor o el grupo de motores es el doble.
units_v	The unit that will represent the velocity: dps – degrees per second rpm – rotations per minute velocityUnits::pct – percent
time	The amount of time the motor will spin for. wait cannot be used when using the time parameter.
units_t	The unit that represents the time: seconds msec – milliseconds

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin 1 turn fast, then 1 turn slow
  Motor1.spinFor(forward, 1, turns, true);
  Motor1.spinFor(reverse, 1, turns, 20, percent, true);
}

spinToPosition

spinToPosition spins the motor or motor group to a specified position.

Default Usage:
Motor1.spinToPosition(position, units, wait);

Overload Usages:
Motor1.spinToPosition(position, positionUnits, velocity, velocityUnits, wait);

Parámetros	Descripción
position	The position that the motor or motor group will spin to.
units	The unit that will represent the position: degrees turns
wait	Optional. true (default) – The robot waits until spinToPosition is complete before executing the next line of code. false – The robot starts the action and moves on to the next line of code right away, without waiting for spinToPosition to finish.
velocity	La velocidad a la que girará el motor o el grupo de motores es el doble.
velocityUnits	The unit that will represent the velocity: dps – degrees per second rpm – rotations per minute velocityUnits::pct – percent

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin forward, then go to 90°
  Motor1.spin(forward);
  wait(1, seconds);
  Motor1.spinToPosition(90, degrees);
}

stop

stop stops the motor or motor group from spinning.

Default Usage:
Motor1.stop();

Overload Usages:
Motor1.stop(mode);

Parámetros	Descripción
mode	How the motor or motor group will stop: brake – Stops immediately. coast – Slows gradually to a stop. hold – Stops and resists movement using motor feedback.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin and coast to a stop
  Motor1.setVelocity(100, percent);
  Motor1.spin(forward);
  wait(1, seconds);
  Motor1.stop(coast);
}

Mutadores

setVelocity

setVelocity sets the default velocity for a motor or motor group. This velocity setting will be used for subsequent calls to any motor functions if a specific velocity is not provided.

Usage:
Motor1.setVelocity(velocity, units);

Parámetros	Descripción
velocity	La velocidad a la que girará el motor o el grupo de motores es el doble.
units	The unit that represents the velocity: percent rpm – rotations per minute dps – degrees per second.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Try default, then slow, then fast
  Motor1.spinFor(forward, 180, degrees);
  wait(1, seconds);
  Motor1.setVelocity(20, percent);
  Motor1.spinFor(reverse, 180, degrees);
  wait(1, seconds);
  Motor1.setVelocity(100, percent);
  Motor1.spinFor(forward, 180, degrees);
}

setMaxTorque

setMaxTorque sets the maximum torque that a motor or motor group can spin at.

Usage:
Motor1.setMaxTorque(value, units);

Parámetros	Descripción
value	El par máximo al que puede girar el motor o el grupo de motores.
units	The unit that represents the torque: percent Nm – Newton meters. InLb – inch pounds. amp – amps.

setPosition

setPosition sets a specific position value to a motor or motor group, which updates the encoder reading.

Usage:
Motor1.setPosition(position, units);

Parámetros	Descripción
position	La posición a la que girará el motor o grupo de motores especificado.
units	The unit that will represent the rotation: degrees turns

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Set a new zero, then go to 0°
  Motor1.setPosition(180, degrees);
  Motor1.spinToPosition(0, degrees);
}

setStopping

setStopping sets how a motor or motor group behaves when it stops.

Usage:
Motor1.setStopping(mode);

Parámetros	Descripción
mode	How the motor or motor group will stop: brake – Stops immediately. coast – Slows gradually to a stop. hold – Stops and resists movement using motor feedback.

setTimeout

setTimeout sets a time limit for how long a motor command will wait to reach its target. If the robot cannot complete the movement within the set time, it will stop automatically and continue with the next command.

Note: The motor’s time limit is used to prevent motor commands that do not reach their target position from stopping the execution of other commands in the stack.

Usage:
Motor1.setTimeout(time, units);

Parámetros	Descripción
time	El número máximo de segundos que se ejecutará un comando de motor antes de detenerse y pasar al siguiente comando.
units	The unit that represents the timeout: seconds msec – milliseconds

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Stop a long move after 0.5 seconds
  Motor1.setTimeout(0.5, seconds);
  Motor1.spinFor(forward, 2, turns);
  Motor1.spinToPosition(0, degrees);
}

setReversed

setReversed sets the motor to be reversed. This method works the same as setting the reverse parameter to true when constructing a motor.

Usage:
Motor1.setReversed(reversed);

Parámetros	Descripción
reversed	A Boolean representing whether or not the motor is reversed: true – Reverse the motor direction. false – Return to the motor’s default configuration.

resetPosition

resetPosition sets the motor or motor group’s position to 0.

Usage:
Motor1.resetPosition();

Parámetros	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin to 360°, then reset the encoder
  Motor1.spinToPosition(360, degrees);
  Motor1.resetPosition();

  // Now spin to 90° from this new zero point
  Motor1.spinToPosition(90, degrees);
}

Captadores

isDone

isDone returns a Boolean indicating whether a motor or motor group is not currently spinning.

• 1 – The motor or motor group is done spinning.

• 0 – The motor or motor group is still spinning.

Usage:
Motor1.isDone()

Parámetros	Descripción
	Este método no tiene parámetros.

isSpinning

isSpinning returns a Boolean indicating whether a motor or motor group is currently spinning.

• 1 – The motor or motor group is spinning.

• 0 – The motor or motor group is not spinning.

Usage:
Motor1.isSpinning()

Parámetros	Descripción
	Este método no tiene parámetros.

position

position returns the current position of a motor or motor group as a double.

Usage:
Motor1.position(units)

Parámetros	Descripción
units	The unit that will represent the position: degrees turns

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin, then show the final position
  Motor1.spin(forward);
  wait(1, seconds);
  Motor1.stop();
  Brain.Screen.print("Pos: %f", Motor1.position(degrees));
}

velocity

velocity returns the current velocity of a motor or motor group as a double.

Usage:
Motor1.velocity(units)

Parámetros	Descripción
units	The unit that will represent the velocity: percent rpm – rotations per minute dps – degrees per second

current

current returns the current of a motor or motor group as a double.

Usage:
Motor1.current(units)

Parámetros	Descripción
units	The unit that represents the current: amp – amps. percent

direction

direction returns the current direction a motor or motor group is spinning in:

• forward

• reverse

Usage:
Motor1.direction()

Parámetros	Descripción
	Este método no tiene parámetros.

power

power returns the current power of the motor.

Usage:
Motor1.power(units)

Parámetros	Descripción
units	The unit that represents the power: watt

torque

torque returns the current torque of the motor.

Usage:
Motor1.torque(units)

Parámetros	Descripción
units	The unit that represents the torque: Nm – Newton meters. InLb – inch pounds. amp – amps.

efficiency

efficiency returns the efficiency of the motor as a percent.

Usage:
Motor1.efficiency()

Parámetros	Descripción
	Este método no tiene parámetros.

temperature

temperature returns the current temperature of the motor as a percent.

Usage:
Motor1.temperature(units)

Parámetros	Descripción
units	The unit that represents the temperature: celsius fahrenheit

count

count returns the number of motors in a motor group as an integer. This method will not work with individual Motors.

Usage:
MotorGroup1.count()

Parámetros	Descripción
	Este método no tiene parámetros.

Constructores

Constructors are used to manually create motor and motor_group objects, which are necessary for configuring a motor or motor group outside of VEXcode.

motor

motor creates an object of the motor Class in the specified port.

Default Usage:
motor Motor1 = motor(port);

Overload Usages:
motor Motor1 = motor(port, reverse); motor Motor1 = motor(port, gearRatio); motor Motor1 = motor(port, gearRatio, reverse);

Parámetros	Descripción
port	Which Smart Port that the Motor is connected to as PORT followed by the port number, ranging from 1 to 12.
reverse	A Boolean indicating whether or not the Motor’s directions are configured in reverse: true – The Motor is reversed. false – The Motor is not reversed.
gearRatio	La relación de transmisión del motor es doble.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Make a reversed motor on Port 1
  motor Motor1 = motor(PORT1, true);
}

motor_group

motor_group creates an object of the motor_group Class in the specified port. A motor_group is a collection of individual motor objects.

Usage:
motor_group MotorGroup1 = motor_group(motor1, motor2);

Parámetros	Descripción
motor	The configured motor to add to the motor_group. Up to 12 motor objects can be added to the group.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Create two motors
  motor motorA = motor(PORT1, false);
  motor motorB = motor(PORT6, true);

  // Create a motor group with those motors
  motor_group MotorGroup1 = motor_group(motorA, motorB);
}