Motor

Introducción

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

This page uses Motor1 and MotorGroup1 as the example Motor and Motor Group names respectively. Replace it with your own configured name as needed.

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.

• 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	La posición a la que girará el motor o el grupo de motores.
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.

Nota: El límite de tiempo del motor se utiliza para evitar que los comandos del motor que no alcanzan su posición objetivo detengan la ejecución de otros comandos en la pila.

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(smartport);

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

Parámetros	Descripción
smartport	The Smart Port that the Motor is connected to, written as PORTx where x is the number of the port.
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);
}