Motor Victor 883#

Introducción#

The motor_victor class is used to control a Victor 883 Motor Controller connected to a 3-Wire Port. The Victor 883 Motor Controller sends a PWM signal from the V5 Brain to control compatible VEXpro or VEX EDR DC motors that cannot be connected directly to Smart Ports.

El controlador de motor Victor 883 no se puede configurar en VEXcode y debe construirse manualmente mediante código para poder utilizarse.

Constructores de clases#

1 — Creates a motor_victor object for the Victor 883 Motor Controller connected to the specified 3-Wire Port.

motor_victor( triport::port& port );

2 — Creates a motor_victor object on the specified 3-Wire Port and optionally reverses its direction.

motor_victor(
 triport::port& port,
 bool           reverse );

Instructor de clase#

Destroys the motor_victor object and releases associated resources.

~motor_victor();

Parámetros#

Parámetro

Tipo

Descripción

port

triport::port&

The 3-Wire Port that the Victor 883 Motor is connected to, written as Brain.ThreeWirePort.X or ExpanderName.X, where X is the port letter (for example, Brain.ThreeWirePort.A or Expander1.A).

reverse

bool

Sets the positive direction of motor rotation:

  • false (default) — Clockwise rotation is treated as forward (positive direction).
  • true — Counterclockwise rotation is treated as forward (positive direction).

Ejemplo#

// Create the motor_victor instance on 3-Wire Port A
motor_victor victor = motor_victor(Brain.ThreeWirePort.A);

// Create the motor_victor instance with reversed direction
motor_victor victor2 = motor_victor(Brain.ThreeWirePort.B, true);

Funciones de los miembros#

The motor_victor class includes the following member functions:

  • spin — Spins the motor in a specified direction.

  • stop — Stops the motor.

  • setVelocity — Sets the default velocity for the motor.

  • setReversed — Sets the motor direction to be reversed or not.

Before calling any motor_victor member functions, a motor_victor instance must be created, as shown below:

/* This constructor is required to use a
Victor 883 Motor. Replace the values
as needed. */

// Create the motor_victor instance on 3-Wire Port A
motor_victor victor = motor_victor(Brain.ThreeWirePort.A);

spin#

Hace girar el motor en la dirección especificada de forma indefinida.

Available Functions

1 — Hace girar el motor utilizando la velocidad del motor configurada actualmente.

void spin(
 directionType dir );

2 — Hace girar el motor a la velocidad especificada.

void spin(
 directionType dir,
 double        velocity,
 velocityUnits units );
Parameters

Parámetro

Tipo

Descripción

dir

directionType

The direction in which the motor spins:

  • forward
  • reverse

velocity

double

El valor de velocidad aplicado al motor.

units

velocityUnits

The unit used to represent velocity:

  • percent / pct — percent
  • rpm — rotations per minute
  • dps — degrees per second
Return Values

Esta función no devuelve ningún valor.

Notes

  • The motor will continue spinning until stop is called or another movement function is executed.

Examples 
// Spin forward, then stop
victor.spin(forward);
wait(1, seconds);
victor.stop();


// Spin forward at 100 rpm
victor.spin(forward, 100, rpm);
wait(1, seconds);
victor.stop();

stop#

Impide que el motor gire.

Available Functions 
void stop();
Parameters

Esta función no acepta ningún parámetro.

Return Values

Esta función no devuelve ningún valor.

Notes

  • Calling stop immediately stops any current motor movement.

Examples 
// Spin and then stop
victor.spin(forward);
wait(1, seconds);
victor.stop();

setVelocity#

Establece la velocidad predeterminada para el motor Victor 883. Esta configuración de velocidad se utilizará para las llamadas posteriores a cualquier función del motor si no se proporciona una velocidad específica.

Available Functions 
void setVelocity(
    double       velocity,
    percentUnits units );
Parameters

Parámetro

Tipo

Descripción

velocity

double

El valor de velocidad que se aplicará al motor.

units

percentUnits

The unit used to represent velocity:

  • percent / pct — percent
Return Values

Esta función no devuelve ningún valor.

Notes

  • Any subsequent Victor 883 Motor movement function (such as spin) that does not explicitly specify a velocity will use this value.

Examples 
// Set velocity to 50%, then spin
victor.setVelocity(50, percent);
victor.spin(forward);

setReversed#

Permite configurar si el sentido de giro del motor debe invertirse o no.

Available Functions 
void setReversed( bool value );
Parameters

Parámetro

Tipo

Descripción

value

bool

A boolean value to set the direction to reversed or not:

  • true — Motor direction is reversed
  • false — Motor direction is normal
Return Values

Esta función no devuelve ningún valor.

Notes

  • This is the same as changing the reverse parameter in the constructor.

Examples 
// Reverse the motor direction
victor.setReversed(true);
victor.spin(forward); // Will actually spin in reverse
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