– title: Motor 393 (Motor Controller 29) | VEX EXP - C++ API description: Reference documentation for the motor29 class in VEX EXP C++. Includes constructors, functions, parameters, notes, and usage examples.

Motor 393 (Motor Controller 29)

Introduction

The motor29 class is used to control a Motor Controller 29 connected to a 3-Wire Port. The Motor Controller 29 sends a PWM signal from the EXP Brain to operate a VEX Motor 393.

Class Constructors

1 — Creates a motor29 object on the specified 3-Wire Port.

motor29(
    triport::port &port );

2 — Creates a motor29 object on the specified 3-Wire Port and changes the positive turning direction.

motor29(
    triport::port &port,
    bool           reverse );

Class Destructor

Destroys the motor29 object and releases associated resources.

~motor29();

Parameters

Parameter	Type	Description
port	triport::port&	The 3-Wire Port that the Motor Controller 29 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 whether the motor’s spin direction is reversed: false (default) — Does not reverse the motor’s direction. true — Reverses the motor’s direction.

Example

// Create a Motor Controller 29 instance in 3-Wire Port A
motor29 Motor393_A = motor29(
    Brain.ThreeWirePort.A );

Member Functions

The motor29 class includes the following member functions:

• spin — Spins the motor in a specified direction.

• stop — Stops the motor.

• setVelocity — Tells the Motor 393 how fast to spin.

• setReversed — Sets whether the motor’s rotation direction is reversed.

Before calling any motor29 member functions, an instance must be created, as shown below:

/* This constructor is required when using VS Code.
Motor 393 configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create a Motor Controller 29 instance in 3-Wire Port A
motor29 Motor393_A = motor29(
    Brain.ThreeWirePort.A );

spin

Spins the Motor 393 in the specified direction forever.

Available Functions

1 — Spins using the currently configured velocity.

void spin(
 directionType dir );

2 — Spins at the specified velocity.

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

Parameters

Parameter	Type	Description
dir	directionType	The direction in which the motor spins: forward or reverse.
velocity	double	The velocity to spin with from 0% to 100% when using percent.
units	velocityUnits	The velocity unit: percent / pct — percent rpm — rotations per minute dps — degrees per second

Return Values

This function does not return a value.

Notes

• This function is non-waiting and the project will continue executing immediately after the call.

• The Motor 393 will continue spinning until stop is called or another spin is used.

stop

Stops the motor.

Available Functions

void stop();

Parameters

This function does not take any parameters.

Return Values

This function does not return a value.

setVelocity

Tells a Motor 393 how fast to spin. A higher percentage makes the Motor 393 spin faster and a lower percentage makes the Motor 393 spin slower.

Every project begins with each Motor 393 spinning at 50% velocity by default.

Available Functions

void setVelocity(
    double velocity,
    percentUnits units );

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.

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 393’s direction is reversed: true — Reverses the Motor 393’s direction. false — Returns the Motor 393’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.