Motor#

Introducción#

Motors and motor groups control how parts of a robot move. A Motor controls one configured IQ Smart Motor, while a MotorGroup controls multiple configured IQ Smart Motors together so they move in tandem. Motors and motor groups can be used to raise an arm, turn a claw, spin a wheel, or move another part of a build. Two motors can work together as a drivetrain to move and turn the whole robot.

Each motor or motor group is configured in the Devices window. Depending on the build, motor and motor group names can change. This page uses motor_1 and motor_group_1 as example names. Replace them with your own configured names as needed.

A VEX IQ (2nd gen) Motor showing the forward direction indicated by a plus sign and an arrow indicating it is rotating left, or counterclockwise. A VEX IQ (2nd gen) Motor showing the reverse direction indicated by a minus sign and an arrow indicating it is rotating right, or clockwise.

By default, FORWARD spins a motor counterclockwise, and REVERSE spins a motor clockwise. If a motor is set to reverse, those directions will be switched.

There are many ways to code motors and motor groups. Below is a list of all Motor and MotorGroup methods:

Actions — Stop and spin motors and motor groups.

  • spin — Spins a motor or motor group forward or reverse forever.

  • spin_for — Spins a motor or motor group for a specified distance.

  • spin_to_position — Spins a motor or motor group to a specific position.

  • stop — Stops a motor or motor group from spinning.

Mutators — Adjust motor and motor group settings.

  • set_velocity — Tells a motor or motor group how fast to spin.

  • set_max_torque — Sets how hard a motor or motor group is allowed to push while spinning.

  • set_position — Changes the motor or motor group’s current position to a new value.

  • set_stopping — Sets how a motor or motor group will stop moving: by braking, coasting, or holding.

  • set_timeout — Sets how much time a motor or motor group will try to finish a movement.

  • set_reversed — Changes whether a motor’s spin direction is reversed.

  • reset_position — Changes a motor or motor group’s current position to 0.

Getters — Check motor and motor group status.

  • position — Returns the motor or motor group’s current position.

  • velocity — Returns how fast the motor or motor group is spinning.

  • current — Returns how much electrical current the motor or motor group is using.

  • is_done — Returns whether the motor or motor group is finished moving, as a Boolean value.

  • is_spinning — Returns whether the motor or motor group is spinning, as a Boolean value.

  • direction — Returns the direction the motor or motor group is spinning.

  • power — Returns how much power the motor or motor group is using.

  • torque — Returns how much torque the motor or motor group is using.

  • efficiency — Returns how efficiently the motor or motor group is using power.

  • temperature — Returns the temperature of the motor or motor group.

  • count — Returns the number of motors in a motor group.

  • get_timeout — Returns the motor or motor group’s current timeout duration.

Constructores: Inicialice y configure manualmente los motores y los grupos de motores.

Comportamiento#

spin#

spin spins a motor or motor group forward or reverse forever. The motor or motor group will continue to spin until it is given another action, like spinning in a different direction or stopping.

Usage:
motor_1.spin(direction, velocity, units)

Parámetros

Descripción

direction

The direction the motor or motor group spins: FORWARD or REVERSE.

velocity

Optional. The velocity to spin with from 0% to 100% when using PERCENT. This can be an integer or decimal (float).

units

Optional. The velocity unit:

  • PERCENT
  • RPM — Rotations per minute
  • VelocityUnits.DPS — Degrees per second

 
# Spin the motor forward, then stop
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()

spin_for#

spin_for spins a motor or motor group for a specific distance. The spin is relative to the current position of the motor or motor group. The project will wait until the motor or motor group is done spinning before the next line of code runs.

Usage:
motor_1.spin_for(direction, angle, units, velocity, units_v, wait)

Parámetros

Descripción

direction

The direction the motor or motor group spins: FORWARD or REVERSE.

angle

The distance the motor or motor group spins. This can be an integer or decimal (float).

units

Optional. The distance unit: DEGREES (default) or TURNS.

velocity

Optional. The velocity to spin with from 0% to 100% when using PERCENT. This can be an integer or decimal (float).

units_v

Optional. The velocity unit:

  • PERCENT
  • RPM (default) — Rotations per minute

wait

Optional.

  • wait=True (default) — Makes the project wait until the motor or motor group is done spinning before the next line of code runs.
  • wait=False — Makes the next line of code run right away.

 
# Spin the motor forward, then put it
# at 90 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(90, DEGREES)


# Spin the motor at different velocities
# Using default velocity
motor_1.spin_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Spin slower
motor_1.spin_for(REVERSE, 150, MM, 20, PERCENT)
wait(1, SECONDS)
# Spin faster
motor_1.spin_for(FORWARD, 150, MM, 100, PERCENT)

spin_to_position#

spin_to_position spins a motor or motor group to a specific position.

A motor or motor group’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. At the beginning of a project, the motor or motor group position is set to 0 degrees. The motor or motor group position can also be set using the set_position method.

Position values are absolute. This means the direction of the spin depends on the motor or motor group’s current position.

For example, if the motor or motor group starts at 0 degrees and spins to a position of 720 degrees, it will spin forward two turns. If it then spins to a position of 360 degrees, it will spin reverse one turn, because 360 is less than 720.

Usage:
motor_1.spin_to_position(rotation, units, velocity, units_v, wait)

Parámetros

Descripción

rotation

The position value the motor or motor group will spin to. This can be an integer or decimal (float).

units

The position unit: DEGREES or TURNS.

velocity

Optional. The velocity to spin with from 0% to 100% when using PERCENT. This can be an integer or decimal (float).

units_v

Optional. The velocity unit:

  • PERCENT
  • RPM — Rotations per minute
  • VelocityUnits.DPS — Degrees per second

wait

Optional.

  • wait=True (default) — Makes the project wait until the motor or motor group is done spinning before the next line of code runs.
  • wait=False — Makes the next line of code run right away.

 
# Spin the motor forward, then
# put it at 90 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(90, DEGREES)


# Spin forward then quickly reverse
# to 0 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(0, DEGREES, 100, PERCENT, wait=True)

stop#

stop stops a motor or motor group from spinning.

Usage:
motor_1.stop(mode)

Parámetros

Descripción

mode

Optional. How the motor or motor group will stop:

  • COAST — Slows to a stop.
  • BRAKE (default) — Stops immediately.
  • HOLD — Stops immediately and holds the motor’s position.

 
# Spin the motor forward, then stop
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()


# Spin the motor and coast to a stop
motor_1.set_velocity(100, PERCENT)
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop(COAST)

Mutadores#

set_velocity#

set_velocity tells a motor or motor group how fast to spin. A higher percentage makes the motor or motor group spin faster and a lower percentage makes the motor or motor group spin slower.

Every project begins with each motor or motor group spinning at 50% velocity by default.

Note: A higher velocity makes the motor or motor group spin faster, but it may be less precise. A lower velocity makes the motor or motor group spin slower, but it can be more precise.

Usage:
motor_1.set_velocity(velocity, units)

Parámetros

Descripción

velocity

The velocity to spin with from 0% to 100% when using PERCENT. This can be an integer or decimal (float).

units

Optional. The velocity unit:

  • PERCENT
  • RPM — Rotations per minute
  • VelocityUnits.DPS — Degrees per second

 
# Spin the motor at different velocities
# Using default velocity
motor_1.spin_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Spin slower
motor_1.set_velocity(20, PERCENT)
motor_1.spin_for(REVERSE, 150, MM)
wait(1, SECONDS)
# Spin faster
motor_1.set_velocity(100, PERCENT)
motor_1.spin_for(FORWARD, 150, MM)

set_max_torque#

Torque shows how hard a motor or motor group can push or pull while it spins.

set_max_torque sets the most torque a motor or motor group is allowed to use.

A higher percentage lets the motor or motor group push harder, like when lifting a heavy object. A lower percentage limits how hard the motor or motor group can push. This can help protect the robot if the motor or motor group gets stuck or reaches the end of how far it can move.

Every project begins with each motor or motor group’s torque at 50% by default.

Usage:
motor_1.set_max_torque(value, units)

Parámetros

Descripción

value

The max torque the motor or motor group can use. This can be an integer or decimal (float).

units

The torque unit:

  • PERCENT
  • TorqueUnits.NM — Newton meters
  • TorqueUnits.INLB — Inch pounds

 
# Spin the motor at different torque values
# Default
motor_1.spin_to_position(45, DEGREES)
# Spin at a lower torque
motor_1.set_max_torque(20, PERCENT)
motor_1.spin_to_position(0, DEGREES)
# Spin at the max torque
motor_1.set_max_torque(100, PERCENT)
motor_1.spin_to_position(45, DEGREES)

set_position#

A motor or motor group’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. set_position changes the motor or motor group’s current position to a new value.

For example, if a motor or motor group has spun to 180 degrees, setting the position to 0 degrees will reset that position from 180 to 0 degrees. Then the motor or motor group can spin to positions based on that new value.

Usage:
motor_1.set_position(position, units)

Parámetros

Descripción

position

The position value to set for the motor or motor group. This can be an integer or decimal (float).

units

The position unit: DEGREES or TURNS.

 
# Position the motor at the
# new 0 degrees
motor_1.set_position(180, DEGREES)
motor_1.spin_to_position(0)

set_stopping#

set_stopping sets how a motor or motor group will stop moving: by braking, coasting, or holding.

Usage:
motor_1.set_stopping(mode)

Parámetros

Descripción

mode

How the motor or motor group will stop:

  • BRAKE — Stops immediately.
  • COAST — Slows to a stop.
  • HOLD — Stops immediately and holds the motor’s position.

 
# Spin the motor and coast to a stop
motor_1.set_velocity(100, PERCENT)
motor_1.set_stopping(COAST)
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop()

set_timeout#

set_timeout sets how much time a motor or motor group will try to finish a movement. If the motor or motor group cannot finish in that time, it will stop trying and move on to the next line of code. This keeps the motor or motor group from getting stuck on a movement.

Usage:
motor_1.set_timeout(value, units)

Parámetros

Descripción

value

The amount of time the motor or motor group can try to finish a movement. This can be a positive integer or decimal (float).

units

Optional. The unit of time:

  • SECONDS
  • MSEC (default) — Milliseconds

 
# Set a 0.5 second timeout for motor actions
motor_1.set_timeout(0.5, SECONDS)

# Try a long move that will time out early
motor_1.spin_for(FORWARD, 2, TURNS)
motor_1.spin_to_position(0, DEGREES)

set_reversed#

set_reversed changes whether a motor’s spin direction is reversed. This method works the same as setting the reverse parameter to True when constructing a Motor.

Nota: Este método solo funcionará con un motor y no con un grupo de motores.

Usage:
motor_1.set_reversed(value)

Parámetros

Descripción

value

Whether the motor’s direction is reversed:

  • True — Reverses the motor’s direction.
  • False — Returns the motor’s direction to its default.

 
# Change the reverse direction while spinning
motor_1.spin_for(FORWARD, 45)
motor_1.set_reversed(True)
motor_1.spin_for(FORWARD, 45)

reset_position#

reset_position changes the motor or motor group’s current position to 0.

Usage:
motor_1.reset_position()

Parámetros

Descripción

Este método no tiene parámetros.

 
# Spin to 360 degrees, then reset the encoder
motor_1.spin_to_position(360, DEGREES)
motor_1.reset_position()

# Move again to 90 degrees from new zero point
motor_1.spin_to_position(90, DEGREES)

Captadores#

position#

A motor or motor group’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. position returns the motor or motor group’s current position.

At the beginning of a project, the motor or motor group position is set to 0 degrees. If the motor or motor group spins one turn forward, the position will be 360 degrees or 1 turn. If the motor or motor group spins the other direction, the position will be negative.

Usage:
motor_1.position(units)

Parámetros

Descripción

units

Optional. The unit to return the motor or motor group position in: DEGREES (default) or TURNS.

 
# Spin the motor and display the
# ending position
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()
brain.screen.print(motor_1.position())

velocity#

velocity returns how fast the motor or motor group is spinning.

A positive value means the motor or motor group is spinning forward. A negative value means it is spinning in reverse.

Usage:
motor_1.velocity(units)

Parámetros

Descripción

units

Optional. The velocity unit to return:

  • PERCENT
  • RPM (default) — Rotations per minute
  • VelocityUnits.DPS — Degrees per second

current#

current returns how much electrical current the motor or motor group is using, measured in amps from 0.0 to 1.2 A. Current is the amount of electricity flowing through the motor or motor group.

A higher current value means the motor or motor group is using more electrical current. This can happen when the motor or motor group is lifting something heavy, pushing against an object, or trying to move when it is stuck.

This can be used to check if the motor or motor group is struggling during a movement. If current stays high, the motor may get warmer or use power less efficiently.

Usage:
motor_1.current(units)

Parámetros

Descripción

units

Optional. The current unit to return:

  • CurrentUnits.AMP — Amps

is_done#

is_done returns whether the motor or motor group is finished moving, as a Boolean value. This can be used to control the timing of other behaviors based on the motor’s movement.

  • True — The motor or motor group is finished moving.

  • False — The motor or motor group is still moving.

This method works together with the following Motion methods that have the wait parameter: spin_for and spin_to_position.

Usage:
motor_1.is_done()

Parámetros

Descripción

Este método no tiene parámetros.

is_spinning#

is_spinning returns whether the motor or motor group is spinning, as a Boolean value. This can be used to control the timing of other behaviors based on the motor’s movement.

  • True — The motor or motor group is spinning.

  • False — The motor or motor group is not spinning.

This method works together with the following Motion methods that have the wait parameter: spin_for and spin_to_position.

Usage:
motor_1.is_spinning()

Parámetros

Descripción

Este método no tiene parámetros.

direction#

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

  • FORWARD

  • REVERSE

Usage:
motor_1.direction()

Parámetros

Descripción

Este método no tiene parámetros.

power#

power returns how much power the motor or motor group is using in watts. Power shows how quickly the motor or motor group is using energy.

A higher power value means the motor or motor group is using energy faster. This can happen when the motor or motor group is lifting something heavy, pushing against an object, or trying to move when it is stuck.

This can be used to compare movements or check if the motor or motor group is struggling. If power stays high, the motor may get warmer or use energy less efficiently.

Usage:
motor_1.power()

Parámetros

Descripción

Este método no tiene parámetros.

torque#

Torque shows how hard a motor or motor group is twisting, pushing, or pulling while it spins.

torque returns how much torque the motor or motor group is using.

A higher torque value means the motor or motor group is pushing or pulling harder. This can happen when the motor or motor group is lifting something heavy, pushing against an object, or trying to move when it is stuck.

This can be used to check if the motor or motor group is struggling or to compare how much push different movements need.

To set the torque of a motor or motor group, use set_max_torque.

Usage:
motor_1.torque(units)

Parámetros

Descripción

units

The torque unit to return:

  • TorqueUnits.NM (default) — Newton meters
  • TorqueUnits.INLB — Inch pounds

efficiency#

efficiency returns how efficiently the motor or motor group is using power, as a percentage from 0% to 100%.

Efficiency shows how much of the motor or motor group’s power is being used for movement. A higher efficiency value means more of the motor or motor group’s power is being used to move. A lower efficiency value can happen when the motor or motor group is working hard but not moving much, like when it is stuck or pushing against an object.

This can be used to compare movements or check if the motor or motor group is wasting power instead of using it for movement.

Usage:
motor_1.efficiency()

Parámetros

Descripción

Este método no tiene parámetros.

temperature#

temperature returns the temperature of the motor or motor group.

Motor temperature shows how warm the motor or motor group is. A higher temperature means the motor or motor group is getting warmer while it works. The motor should stay below 55 degrees Celsius to keep working at full performance.

If the motor or motor group gets too hot, it will lower its maximum current to protect itself. At 70 degrees Celsius, a motor will stop running until it cools down.

This can be used to check if the motor or motor group is getting too hot during repeated movements, long runs, or when it is pushing against an object.

Usage:
motor_1.temperature(units)

Parámetros

Descripción

units

Optional. The temperature unit to return:

  • TemperatureUnits.CELSIUS (default)
  • TemperatureUnits.FAHRENHEIT

count#

count returns the number of motors in a motor group.

Nota: Este método solo funcionará con un grupo de motores y no con un motor.

Usage:
motor_group_1.count()

Parámetros

Descripción

Este método no tiene parámetros.

get_timeout#

get_timeout returns the motor or motor group’s current timeout in milliseconds.

Nota: Este método solo funcionará con un motor y no con un grupo de motores.

Usage:
motor_1.get_timeout()

Parámetros

Descripción

Este método no tiene parámetros.

Constructores#

Constructors are used to manually create Motor and MotorGroup objects outside of the Devices window.

Motor#

Motor creates a motor.

Usage:
motor_1 = Motor(smartport, gears, reverse)

Parámetro

Descripción

smartport

The Smart Port that the motor is connected to, written as Ports.PORTx, where x is the port number.

gears

Optional. The motor’s gear ratio:

  • GearSetting.RATIO_1_1 (default) — 1:1 ratio
  • GearSetting.RATIO_2_1 — 2:1 ratio
  • GearSetting.RATIO_3_1 — 3:1 ratio

reverse

Optional. Sets whether the motor’s spin direction is reversed:

  • True — Reverses the motor.
  • False (default) — Does not reverse the motor.

 
# Create a reversed motor
motor_1 = Motor(Ports.PORT1, 1.0, True)

Motor Group#

MotorGroup creates a motor group.

Usage:
motor_group_1 = MotorGroup(motors)

Parámetro

Descripción

motors

The names of previously created Motor objects to put in the motor group. Up to 12 Motor objects can be added to the group.

 
# Create two motors
motor_group_1_motor_a = Motor(Ports.PORT1, False)
motor_group_1_motor_b = Motor(Ports.PORT6, True)

# Create a motor group with those motors
motor_group_1 = MotorGroup(motor_group_1_motor_a, motor_group_1_motor_b)
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