Motor

Initializing the Motor Class

An EXP Motor object is created by using the following constructor:

Motor(port, gears, reverse)

This constructor takes in three parameters at most.

Parameter	Description
port	The port the Motor is connected to on the EXP Brain.
gears	Optional. Sets the gear setting installed in the Motor, the default is GearSetting.RATIO_18_1.
reverse	Optional. Sets whether the Motor’s spin should be reversed, the default is False.

# Construct a Motor object named motor_1 in Port 1 on 
# the EXP Brain which has the reverse flag set to True.
motor_1 = Motor(Ports.PORT1, True)

This motor_1 object will be used in all subsequent examples throughout this API documentation when referring to Motor class methods.

Class Methods

spin()

The spin(direction, velocity, units) method is used to spin a Motor in the specified direction until a spin or stop command is used, or the project is stopped.

This is a non-waiting function and allows the next command to run without delay.

Parameters	Description
direction	A valid DirectionType.
velocity	Optional. The velocity at which the Motor will spin. The default velocity set by the motor_1.set_velocity() command will be used.
units	Optional. A valid VelocityUnit or PERCENT. The default is RPM.

Returns: None.

# Spin motor_1 forward.
motor_1.spin(FORWARD)

spin_to_position()

The spin_to_position(rotation, units, velocity, units_v, wait) method is used to spin a Motor to an absolute position using the provided arguments.

This function can be a waiting or non-waiting command depending on if the wait parameter is set to True.

Parameters	Description
rotation	The position to spin the Motor to.
units	Optional. A valid RotationUnit. The default is DEGREES.
velocity	Optional. The velocity with which the Motor will spin. The default velocity set by the motor_1.set_velocity() command will be used.
units_v	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
wait	Optional. Determines whether the command will block subsequent commands (wait=True) or allow immediate execution (wait=False). If unspecified, the default for The wait parameter is wait=True.

Returns: None.

# Spin motor_1 to the position 90 degrees at 100 RPM.
motor_1.spin_to_position(90, DEGREES, 100, RPM)

spin_for()

The spin_for(direction, value, units, velocity, units_v, wait) method is used to spin the Motor for a specific duration, rotations, or until a specific encoder value is reached. The position is relative to the current position of the Motor.

This can be a waiting or non-waiting command depending on if the wait parameter is used.

Parameters	Description
direction	A valid DirectionType.
value	The value for the Motor to spin to.
units	Optional. A valid RotationUnit. The default is DEGREES.
velocity	Optional. The velocity with which the Motor will spin. The default velocity set by the motor_1.set_velocity() command will be used.
units_v	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
wait	Optional. Determines whether the command will block subsequent commands (wait=True) or allow immediate execution (wait=False). If unspecified, the default for The wait parameter is wait=True.

Returns: None.

# Spin motor_1 forward for 10 turns at 100 percent velocity.
motor_1.spin_for(FORWARD, 10, TURNS, 100, PERCENT)

stop()

The stop(mode) method is used to stop a Motor, setting them to 0 velocity and configuring the current stopping mode.

Parameters	Description
mode	Optional. A valid BrakeType. The default is COAST, unless previously changed using the motor_1.set_stopping() command.

Returns: None.

# Spin motor_1 forward for 2.5 seconds.
motor_1.spin(FORWARD)

wait(2.5, SECONDS)

# Stop motor_1 using the HOLD brake type.
motor_1.stop(HOLD)

set_velocity()

The set_velocity(velocity, units) method is used to set the default velocity for a Motor. This velocity setting will be used for subsequent calls to any motion functions if a specific velocity is not provided.

Parameters	Description
velocity	The new velocity to set for the Motor.
units	A valid VelocityUnit or PERCENT.

Returns: None.

# Spin motor_1 forward at 75 percent velocity
motor_1.set_velocity(75, PERCENT)

motor_1.spin(FORWARD)

set_reversed()

The set_reversed(value) method sets the Motor direction to be reversed. This command works the same as setting the reverse parameter to True when constructing a Motor.

Parameters	Description
value	Boolean value to set the direction reversed or not.

Returns: None.

set_stopping()

The set_stopping(mode) method is used to set the stopping mode for a Motor.

Parameters	Description
mode	A valid BrakeType.

Returns: None.

reset_position()

The reset_position() method resets the Motor position to 0. The position that is returned by the motor_1.position() function will be updated to 0.

Returns: None.

set_position()

The set_position(value, units) method is used to set the position of a Motor. The position that is returned by the motor_1.position() function will be updated to this new value.

Parameters	Description
value	The new position to set for the Motor.
units	A valid RotationUnit.

Returns: None.

set_timeout()

The set_timeout(value, units) method is used to set the timeout for a Motor. The position that is returned by the motor_1.get_timeout() function will be updated to this new value.

Parameters	Description
value	The new timeout to set for the Motor.
units	Optional. A valid TimeUnit. The default is MSEC.

Returns: None.

get_timeout()

The get_timeout() method returns the current timeout for a Motor.

Returns: The current timeout value in milliseconds.

is_spinning()

The is_spinning() method returns the current status of the motor_1.spin_to_position() or motor_1.spin_for() commands. This function is used when False has been passed as the wait parameter in either command.

Returns: True if the Motor is still spinning. False if the Motor has completed the move or a timeout has occurred.

is_done()

The is_done() method returns the current status of the motor_1.spin_to_position() or motor_1.spin_for() commands. This function is used when False has been passed as the wait parameter in either command.

Returns: True if the Motor is still spinning. False if the Motor has completed the move or a timeout has occurred.

set_max_torque()

The set_max_torque(value, units) method is used to set the maximum torque for a Motor. The torque can be set as torque, current, or a percent of maximum torque.

Parameters	Description
value	The new maximum torque for a Motor.
units	A valid TorqueUnit, AMP, or PERCENT.

Returns: None.

direction()

The direction() method returns the current direction the Motor is spinning in.

Returns: The current DirectionType the Motor is spinning in.

position()

The position(units) method returns the current position of the Motor.

Parameters	Description
units	Optional. A valid RotationUnit. The default is DEGREES.

Returns: The current position of the Motor in the specified units.

velocity()

The velocity(units) method returns the current velocity of the Motor.

Parameters	Description
units	Optional. A valid VelocityUnit. The default is RPM.

Returns: The current velocity of the Motor in the specified units.

current()

The current(units) method returns the current being used by the Motor.

Parameters	Description
units	Optional. The only valid units for current are AMP or PERCENT.

Returns: The current being drawn by the Motor in the specified units.

power()

The power(units) method returns the power being consumed by the Motor.

Parameters	Description
units	Optional. The only valid units for power are WATT or PERCENT.

Returns: The power being consumed by the Motor in the specified units.

torque()

The torque(units) method returns the torque being generated by the Motor.

Parameters	Description
units	Optional. A valid TorqueUnit. The default is NM.

Returns: The torque being generated by the Motor in the specified units.

efficiency()

The efficiency(units) method returns the efficiency of the Motor.

Parameters	Description
units	Optional. The only valid unit for efficiency is PERCENT.

Returns: The efficiency of the Motor as a percent.

temperature()

The temperature(units) method returns the temperature of the Motor.

Parameters	Description
units	Optional. A valid TemperatureUnit. The default is CELSIUS.

Returns: The temperature of the Motor in the specified units.

command()

The command(units) method returns the last velocity sent to the Motor.

Parameters	Description
units	Optional. A valid VelocityUnit. The default is RPM.

Returns: The Motor command velocity in the specified units.

installed()

The installed() method returns if the Motor is connected to the EXP Brain.

Returns: True if the Motor is connected. False if it is not.

timestamp()

The timestamp() method returns the timestamp of the last received status packet from the Motor.

Returns: The timestamp of the last received status packet in milliseconds.