motor_victor#
Initializing the motor_victor Class#
A Motor Victor Controller is created by using one of the following constructors:
The motor_victor constructor creates a motor_victor object in the specified Three Wire Port.
Parameter |
Description |
|---|---|
|
The 3-Wire Port that the Motor Victor Controller is connected to, whether it’s a port on the Brain, or a 3-Wire Expander. |
// Create the Brain.
brain Brain;
// Construct a Motor Victor Controller "victor" with the
// MotorVictor class.
motor_victor victor = motor_victor(Brain.ThreeWirePort.A);
The motor_victor(port, reverse) constructor creates a motor_victor object in the specified Three Wire Port with the reverse flag set to the specified value.
Parameter |
Description |
|---|---|
|
The 3-Wire Port that the Motor Victor Controller is connected to, whether it’s a port on the Brain, or a 3-Wire Expander. |
|
Set this Motor to be reversed or not. If set to |
// Create the Brain.
brain Brain;
// Construct a Motor Victor Controller "victor" with the
// motor_victor class.
motor_victor victor = motor_victor(Brain.ThreeWirePort.A, true);
A Brain or 3-Wire Expander must be created first before they can be used to create an object with the motor_victor Class constructor.
This victor object will be used in all subsequent examples throughout this API documentation when referring to MotorVictor class methods.
Class Methods#
spin()#
This is a non-blocking method and allows the next method to run without delay.
This method is called in the following ways:
The spin(direction) method spins the Motor in a specified direction at the default velocity. The Motor is assumed to have a maximum velocity of 100 rpm.
Parameters |
Description |
|---|---|
direction |
A valid DirectionType. |
Returns: None.
// Spin the Motor forward.
victor.spin(forward);
The spin(direction, velocty, units) method spins the Motor in a specified direction. The Motor is assumed to have a maximum velocity of 100 rpm.
Parameters |
Description |
|---|---|
direction |
A valid DirectionType. |
velocity |
The velocity to spin the Motor. |
units |
A valid VelocityUnit. |
Returns: None.
// Spin the Motor forward at 100 rpm.
victor.spin(forward, 100, rpm);
stop()#
The stop() method stops the Motor.
Returns: None.
setVelocity()#
The setVelocity() method sets the velocity of the Motor. This will be the velocity used for subsequent calls of spin() if a velocity is not provided.
Parameters |
Description |
|---|---|
value |
The velocity value to set. |
units |
The only valid unit for velocity in this usecase is |
Returns: None.
setReversed()#
The setReversed(value) method sets the Motor direction to be reversed or not.
Parameters |
Description |
|---|---|
value |
A boolean or binary value to set the reverse flag of the motor to |
Returns: None.