Victor 883 Motor#

Introduction#

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 EXP Brain to control compatible VEXpro or VEX EDR DC motors that cannot be connected directly to Smart Ports.

The Victor 883 Motor Controller cannot be configured in VEXcode and must be manually constructed in code in order to be used.

Class Constructors#

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 );

Class Destructor#

Destroys the motor_victor object and releases associated resources.

~motor_victor();

Parameters#

Parameter

Type

Description

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 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 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);

Member Functions#

The motor_victor class includes the following member functions:

  • spin — Spins the motor in a specified direction.

  • stop — Stops the motor.

  • setVelocity — Tells the motor how fast to spin.

  • 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#

Spins the motor in the specified direction forever.

Available Functions

1 — Spins the motor using the currently configured motor velocity.

void spin(
 directionType dir );

2 — Spins the motor 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

  • 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#

Stops the motor from spinning.

Available Functions 
void stop();
Parameters

This function does not accept any parameters.

Return Values

This function does not return a value.

Notes

  • Calling stop immediately stops any current motor movement.

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

setVelocity#

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

Every project begins with each connected motor 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.

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#

Sets the motor direction to be reversed or not.

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.
Return Values

This function does not return a value.

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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