Motion

Introduction

GO Motion commands let motors spin, hold position, and control velocity and torque with precision.

For the examples below, the configured motor will be named arm. They will be used in all subsequent examples throughout this API documentation when referring to Motor class methods.

Below is a list of all methods:

Actions – Control the movement of motors.

• spin – Spins a motor in a specified direction indefinitely.

• spin_for – Spins a motor for a specified distance.

• spin_to_position – Spins a motor to an absolute position.

• stop – Stops a motor.

Mutators – Change the motor’s different attributes.

• set_velocity – Sets the default velocity for the motor.

• set_max_torque – Sets the maximum torque for a motor.

• set_position – Sets the motor’s position to a specific value.

• set_stopping – Sets the stop behavior (brake, coast, or hold).

• set_timeout – Limits how long a motor function waits before giving up if movement is blocked.

Getters – Return data from motors.

• get_position – Returns a motor’s current position.

• get_velocity – Returns a motor’s current velocity.

• get_current – Returns the current being used by a motor.

• is_stopped – Returns whether a motor is currently not spinning.

• is_moving – Returns whether a motor is currently spinning.

Actions

spin

spin spins the motor in a specified direction indefinitely.

Usage:
arm.spin(direction)

Parameters	Description
direction	The direction in which to spin the motor: FORWARD REVERSE

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in reverse, then stop
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.stop()

# Start threads — Do not delete
start_thread(main)

spin_for

spin_for spins the motor in a specified direction for a specific angle.

Usage:
arm.spin_for(direction, angle, wait)

Parameters	Description
direction	The direction in which to spin the motor: FORWARD REVERSE
angle	The amount of degrees the motor will spin as a float or integer in degrees.
wait	Optional. wait=True (default) – The project waits until spin_for is complete before executing the next line of code. wait=False - The project starts the action and moves on to the next line of code right away, without waiting for spin_for to finish.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in both directions
    arm.spin_for(REVERSE, 180)
    arm.spin_for(FORWARD, 180)

# Start threads — Do not delete
start_thread(main)

spin_to_position

spin_to_position spins the motor to an absolute position.

Usage:
arm.spin_to_position(angle, wait)

Parameters	Description
angle	The position to spin the motor to as a float or integer.
wait	Optional. wait=True (default) – The project waits until spin_to_position is complete before executing the next line of code. wait=False - The project starts the action and moves on to the next line of code right away, without waiting for spin_to_position to finish.

# Build Used: Competition Advanced 2.0
def main():
    # Put motor at 0 position after spinning
    arm.set_position(0)
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.spin_to_position(0)

# Start threads — Do not delete
start_thread(main)

stop

stop stops a motor from spinning.

Usage:
arm.stop()

Parameters	Description
	This method has no parameters.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor in reverse, then stop
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.stop()

# Start threads — Do not delete
start_thread(main)

Mutators

set_velocity

set_velocity sets the default velocity for a motor. This velocity setting will be used for subsequent calls to any Motor functions.

Usage:
arm.set_velocity(velocity)

Parameters	Description
velocity	The velocity at which the motor will spin at as a percent.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor at different velocities
    arm.spin_for(REVERSE, 180)
    wait(1, SECONDS)
    # Spin slower
    arm.set_velocity(20)
    arm.spin_for(FORWARD, 180)
    wait(1, SECONDS)
    # Spin faster
    arm.set_velocity(100)
    arm.spin_for(REVERSE, 180)

# Start threads — Do not delete
start_thread(main)

set_max_torque

set_max_torque sets the maximum torque for a motor.

Usage:
arm.set_max_torque(value)

Parameters	Description
value	The new maximum torque for a motor as a float or integer.

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor at different torques
    arm.spin_for(REVERSE, 180)
    wait(1, SECONDS)
    # Less torque
    arm.set_max_torque(20)
    arm.spin_for(FORWARD, 180)
    wait(1, SECONDS)
    # More torque
    arm.set_max_torque(100)
    arm.spin_for(REVERSE, 180)

# Start threads — Do not delete
start_thread(main)

set_position

set_position sets the position of a motor.

Usage:
arm.set_position(position)

Parameters	Description
position	The new position as an integer in degrees.

# Build Used: Competition Advanced 2.0
def main():
    # Position the motor at the new 0 degrees
    arm.set_position(180)
    arm.spin_to_position(0)

# Start threads — Do not delete
start_thread(main)

set_stopping

set_stopping sets the stopping mode for a motor.

Usage:
arm.set_stopping(mode)

Parameters	Description
mode	How the motor will stop: BRAKE – Stops immediately. COAST – Slows gradually to a stop. HOLD – Stops and resists movement using motor feedback.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor forward then coast to a stop
    arm.set_velocity(100)
    arm.set_stopping(COAST)
    arm.spin(REVERSE)
    wait(2, SECONDS)
    arm.stop()

# Start threads — Do not delete
start_thread(main)

set_timeout

set_timeout sets a time limit for how long a motor function will wait to reach its target. If the motor cannot complete the movement within the set time, it will stop automatically and continue with the next function.

Note: The motor’s time limit is used to prevent motor functions that do not reach their target position from stopping the execution of the rest of the project.

Usage:
arm.set_timeout(value, units)

Parameters	Description
value	The maximum number of seconds a motor function will run before stopping and moving to the next function as an integer or float.
units	Optional. The unit that represents the time: SECONDS MSEC (default) – Milliseconds

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor for one and a half seconds then reset
    arm.set_position(0)
    arm.set_timeout(1.5, SECONDS)
    arm.spin_for(REVERSE, 1000)
    arm.spin_to_position(0)

# Start threads — Do not delete
start_thread(main)

Getters

get_position

get_position returns the current position of a motor as an integer or as a float in degrees.

Usage:
arm.get_position()

Parameters	Description
	This method has no parameters.

# Build Used: Competition Advanced 2.0
def main():
    # Spin motor while monitoring the position
    console.print("Start: ")
    console.print(arm.get_position())
    console.new_line
    arm.spin(REVERSE)
    wait(1, SECONDS)
    arm.stop()
    console.print("After: ")
    console.print(arm.get_position())

# Start threads — Do not delete
start_thread(main)

get_velocity

get_velocity returns the current velocity of a motor as an integer or as a float in percent.

Usage:
arm.get_velocity()

Parameters	Description
	This method has no parameters.

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor and display the velocity
    console.print("Start: ")
    console.print(arm.get_velocity())
    console.new_line()
    arm.spin(REVERSE)
    wait(1, SECONDS)
    console.print("Moving: ")
    console.print(arm.get_velocity())
    arm.stop()

# Start threads — Do not delete
start_thread(main)

get_current

get_current returns the current of the motor in amps.

Usage:
arm.get_current()

Parameters	Description
	This method has no parameters.

# Build Used: Competition Advanced 2.0
def main():
    # Spin the motor and display the current
    console.print("Start: ")
    console.print(arm.get_current())
    console.new_line()
    arm.spin(REVERSE)
    wait(1, SECONDS)
    console.print("Moving: ")
    console.print(arm.get_current())
    arm.stop()

# Start threads — Do not delete
start_thread(main)

is_stopped

is_stopped returns a Boolean indicating whether the motor is stopped.

• True – The motor is stopped.

• False – The motor is spinning.

Usage:
arm.is_stopped()

Parameters	Description
	This method has no parameters.

# Build Used: Competition Advanced 2.0
def main():
    # Turn the eye light on when moving
    arm.spin_for(REVERSE, 200, wait=False)
    wait(0.1, SECONDS)
    while True:
        if arm.is_stopped():
            eye.set_light(OFF)
        else:
            eye.set_light(ON)

# Start threads — Do not delete
start_thread(main)

is_moving

is_moving returns a Boolean indicating whether the motor is spinning.

• True – The motor is spinning.

• False – The motor is stopped.

Usage:
arm.is_moving()

Parameters	Description
	This method has no parameters.

# Build Used: Competition Advanced 2.0
def main():
    # Turn the eye light on while moving
    arm.spin_for(FORWARD, 200, wait=False)
    wait(0.1, SECONDS)
    while True:
        if arm.is_moving():
            eye.set_light(ON)
        else:
            eye.set_light(OFF)

# Start threads — Do not delete
start_thread(main)