Motor Controller 55#

Introduction #

The motor55 class is used to control a VEX Motor Controller 55 connected to the EXP Brain. The Motor Controller 55 is a legacy motor controller designed to operate 2-wire DC motors.

The VEX Motor Controller 55.

Class Constructors #

1 — Creates a motor55 object on the specified Smart Port.
motor55(
  int32_t index );

2 — Creates a motor55 object on the specified Smart Port and changes the positive turning direction.
motor55(
  int32_t index,
  bool    reverse );

3 — Creates a motor55 object on the specified Smart Port, sets the maximum drive voltage, and changes the positive turning direction.
motor55(
  int32_t index,
  double  maxv,
  bool    reverse );

Class Destructor #

Destroys the motor55 object and releases associated resources.

~motor55();

Parameters #

Parameter	Type	Description
`index`	`int32_t`	The Smart Port that the Motor Controller 55 is connected to, written as `PORTx`, where `x` is the port number (for example, `PORT1`).
`reverse`	`bool`	Determines whether the motor’s direction is reversed: `true` — The motor’s positive direction is reversed. `false` — The motor’s positive direction remains normal.
`maxv`	`double`	The maximum voltage that the Motor Controller 55 can apply to the motor.

Parameter

Type

Description

index

int32_t

The Smart Port that the Motor Controller 55 is connected to, written as PORTx, where x is the port number (for example, PORT1).

reverse

bool

Determines whether the motor’s direction is reversed:

true — The motor’s positive direction is reversed.
false — The motor’s positive direction remains normal.

maxv

double

The maximum voltage that the Motor Controller 55 can apply to the motor.

Example #

// Create the motor55 instance in Smart Port 1
motor55 Motor1 = motor55(PORT1);

Member Functions #

The motor55 class includes the following member functions:

spin — Spins the motor in a specified direction.
stop — Stops the motor.
setVelocity — Tells the DC motor how fast to spin.
setStopping — Sets the stopping behavior (coast or brake).
setReversed — Sets whether the motor’s direction is reversed.
current — Returns the motor’s electrical current.
voltage — Returns the motor’s electrical voltage.
temperature — Returns the motor temperature.
getMotorType — Returns the detected motor/controller type.
installed — Returns whether the Motor Controller 55 is detected on the specified Smart Port.

Before calling any motor55 member functions, an instance must be created, as shown below:

/* This constructor is required when using VS Code.
Motor Controller 55 configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the motor55 instance in Smart Port 1
motor55 MC55_1 = motor55(PORT1);

spin #

Spins the motor in the specified direction indefinitely.

Available Functions

1 — Spins using the currently configured velocity.
void spin(
  directionType dir );

2 — Spins at the specified voltage.

void spin(
  directionType dir,
  double        voltage,
  voltageUnits  units );

Parameters

Parameter	Type	Description
`dir`	`directionType`	The direction in which the motor spins: `forward` or `reverse`.
`voltage`	`double`	The voltage value applied to the motor. A negative value spins opposite the given `dir`.
`units`	`voltageUnits`	The unit used to represent voltage: `volt` — volts `voltageUnits::mV` — millivolts

Parameter

Type

Description

dir

directionType

The direction in which the motor spins: forward or reverse.

voltage

double

The voltage value applied to the motor. A negative value spins opposite the given dir.

units

voltageUnits

The unit used to represent voltage:

volt — volts
voltageUnits::mV — millivolts

Return Values

This function does not return a value.

Notes

This function is non-waiting and the program continues immediately after the call.
The motor will continue spinning until stop is called or another spin is used.

stop #

Stops the motor from spinning using the currently configured brake mode.

Available Functions

void stop();

Parameters

This function does not take any parameters.

Return Values

This function does not return a value.

Notes

Stops the motor using the currently configured stopping mode set by setStopping.

setVelocity #

Tells a DC motor how fast to spin. A higher percentage makes the DC motor spin faster and a lower percentage makes the DC motor spin slower.

Every project begins with each connected DC motor spinning at 50% velocity by default.

Available Functions

void setVelocity(
    double       velocity,
    percentUnits units = percent );

Parameters

Parameter	Type	Description
`velocity`	`double`	The velocity to spin with from 0% to 100% when using `percent`.
`units`	`percentUnits`	The velocity unit: `percent` / `pct` — percent.

Return Values

This function does not return a value.

Notes

Any subsequent call to spin without a specified voltage will use this value.

setStopping #

Sets how a motor behaves when it stops.

Available Functions

void setStopping(
    brakeType mode );

Parameters

Parameter	Type	Description
`mode`	`brakeType`	The stopping mode applied when `stop` is called: `coast` — Motor coasts to a stop `brake` — Motor stops quickly using braking

Parameter

Type

Description

mode

brakeType

The stopping mode applied when stop is called:

coast — Motor coasts to a stop
brake — Motor stops quickly using braking

Return Values

This function does not return a value.

Notes

Any subsequent call to stop will use this stopping mode.
The Motor Controller 55 supports coast and brake only. hold is not supported.

setReversed #

Sets whether the motor’s rotation direction is reversed.

Available Functions

void setReversed(
    bool value );

Parameters

Parameter	Type	Description
`value`	`bool`	Whether the motor’s direction is reversed: `true` — Reverses the motor’s direction. `false` — Returns the motor’s direction to its default.

Parameter

Type

Description

value

bool

Whether the motor’s direction is reversed:

true — Reverses the motor’s direction.
false — Returns the motor’s direction to its default.

Return Values

This function does not return a value.

Notes

Calling setReversed is the same as changing the reverse parameter in the constructor.

current #

current returns how much electrical current the DC motor is using. Current is the amount of electricity flowing through the DC motor. When returned in amps, current is reported from 0.0 to 1.2 A.

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

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

Available Functions

1 — Returns the DC motor’s electrical current in amps.
double current(
  currentUnits units = amp );

2 — Returns the DC motor’s electrical current as a percentage of maximum rated current.
double current(
  percentUnits units );

Parameters

Parameter	Type	Description
`units`	`currentUnits`	The unit used to represent current:`amp` (default) — amperes
`units`	`percentUnits`	Represents current as a percentage of the motor’s maximum rated current:`percent` / `pct` — percent

Return Values

Returns a double representing how much electrical current the DC motor is using in the specified units.

voltage #

Returns the electrical voltage supplied to the motor.

Available Functions

double voltage(
  voltageUnits units = volt );

Parameters

Parameter	Type	Description
`units`	`voltageUnits`	The unit to represent the voltage: `volt` (default) `voltageUnits::mV` — millivolts

Parameter

Type

Description

units

voltageUnits

The unit to represent the voltage:

volt (default)
voltageUnits::mV — millivolts

Return Values

Returns a double representing the motor’s electrical voltage in the specified units.

temperature #

temperature returns the temperature of the DC motor.

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

If the DC motor gets too hot, it will lower its maximum current to protect itself. At 70°C, the motor will stop running until it cools down.

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

Available Functions

1 — Returns DC motor temperature as a percentage of maximum operating temperature.
double temperature(
  percentUnits units = percent );

2 — Returns DC motor temperature in physical temperature units.
double temperature(
  temperatureUnits units );

Parameters

Parameter	Type	Description
`units`	`percentUnits`	The unit used to represent DC motor temperature as a percentage: `percent` / `pct` (default) — percent
`units`	`temperatureUnits`	The unit used to represent DC motor temperature in degrees: `celsius` — degrees Celsius `fahrenheit` — degrees Fahrenheit

Parameter

Type

Description

units

percentUnits

The unit used to represent DC motor temperature as a percentage:

percent / pct (default) — percent

units

temperatureUnits

The unit used to represent DC motor temperature in degrees:

celsius — degrees Celsius
fahrenheit — degrees Fahrenheit

Return Values

Returns a double representing the DC motor’s temperature in the specified units.

Notes

The operating temperature range for the motor is approximately 20°C (68°F) to 70°C (158°F).

getMotorType #

Returns the detected motor/controller type.

Available Functions

int32_t getMotorType();

Parameters

This function does not take any parameters.

Return Values

Returns an int32_t indicating the detected motor/controller type:

0 — 11W Motor
1 — 5.5W Motor
2 — Motor Controller 55

installed #

Returns whether the Motor Controller 55 is connected to the EXP Brain.

Available Functions

bool installed();

Parameters

This function does not take any parameters.

Return Values

Returns a bool indicating if the Motor Controller 55 is connected.

true — The Motor Controller 55 is connected.
false — The Motor Controller 55 is not connected.