Motors#

Introduction #

The Motion category includes blocks that control motors and motor groups in a VEX IQ (2nd generation) robot. These blocks let you spin motors forward or in reverse, move to specific positions, set and read encoder values, adjust speed, torque, or timeout settings.

Below is a list of available blocks:

Actions – Spin motors continuously, to a position, or stop them.

spin – Spins the selected motor or motor group indefinitely.
spin for – Spins a motor or group for a specific distance in degrees or turns.
spin to position – Spins a motor or group to a set position.
stop motor – Stops a specific motor or group from spinning.

Settings – Configure motor speed, position, stopping mode, torque, and timeouts.

set motor velocity – Sets the speed of a motor or motor group as a percentage.
set motor position – Sets the encoder value of a motor or motor group.
set motor stopping – Sets the stop behavior (brake, coast, or hold).
set motor max torque – Limits the maximum torque the motor can apply.
set motor timeout – Limits how long a motor block waits before giving up if movement is blocked.

Values – Read motor motion status, position, velocity, and current draw.

motor is done? – Returns a Boolean indicating whether the motor is no longer spinning.
motor is spinning? – Returns a Boolean indicating whether the motor is currently spinning.
motor position – Returns the motor’s current rotational position in degrees or turns.
motor velocity – Returns the motor’s current velocity in % or rpm.
motor current – Returns the current (in amps) drawn by the motor.

Actions #

spin #

The spin block spins a selected motor or motor group in a specified direction using the current motor velocity.

    spin [Motor1 v] [forward v]

Parameters

Description

motor

The motor or motor group to spin, configured in the Devices window.

direction

The direction to spin, configured in the Devices window. By default this is:

counterclockwise (forward)
clockwise (reverse)

Example

    when started :: hat events
    [Spin the motor forward, then stop.]
    spin [Motor1 v] [forward v]
    wait (1) seconds
    stop [Motor1 v]

spin for #

The spin for block spins a selected motor or motor group for a specific amount of rotation using the current motor velocity, measured in degrees or turns.

    spin [Motor1 v] [forward v] for (90) [degrees v] ▶

Parameters	Description
motor	The motor or motor group to spin, configured in the Devices window.
direction	The direction to spin, configured in the Devices window. By default this is: counterclockwise (forward) clockwise (reverse)
distance	The rotation amount, as an integer or decimal.
unit	The measurement unit, which can be one of the following: degrees turns
expanding arrow	By default, this is a waiting block, so the drivetrain will finish moving before running the next block. To make the drivetrain start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

    when started :: hat events
    [Spin the motor forward once, then reset.]
    spin [Motor1 v] [forward v] for (90) [degrees v] ▶
    spin [Motor1 v] [reverse v] for (90) [degrees v] ▶

spin to position #

The spin to position block spins a motor or motor group to a specific absolute position using the current motor velocity and motor position.

    spin [Motor1 v] to position (90) [degrees v] ▶

Parameters	Description
motor	The motor or motor group to spin, configured in the Devices window.
position	The target position to spin the motor or motor group to.
unit	The measurement unit, which can be one of the following: degrees turns
expanding arrow	By default, this is a waiting block, so the drivetrain will finish moving before running the next block. To make the drivetrain start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

    when started :: hat events
    [Spin the motor, then put the motor at half of a rotation.]
    spin [Motor1 v] [forward v]
    wait (2) seconds
    spin [Motor1 v] to position (180) [degrees v] ▶

stop motor #

The stop motor block immediately stops the selected motor or motor group.

    stop [Motor1 v]

Parameters	Description
motor	The motor or motor group to stop, configured in the Devices window.

Example

    when started :: hat events
    [Stop the motor after 1 second.]
    spin [Motor1 v] [forward v]
    wait (1) seconds
    stop [Motor1 v]

Settings #

set motor position #

The set motor position block sets a specific position value to a motor or motor group, which updates the encoder reading.

    set [Motor1 v] position to (0) [degrees v]

Parameters	Description
motor	The motor or motor group to set the position of, configured in the Devices window.
position	The encoder position value to set.
unit	The measurement unit, which can be one of the following: degrees turns

Parameters

Description

motor

The motor or motor group to set the position of, configured in the Devices window.

position

The encoder position value to set.

unit

The measurement unit, which can be one of the following:

degrees
turns

Example

    when started :: hat events
    [Spin the motor in reverse.]
    set [Motor1 v] position to (180) [degrees v]
    spin [Motor1 v] to position (0) [degrees v] ▶

set motor velocity #

The set motor velocity block sets the default spinning speed of a motor or motor group as a percentage for all subsequent Motor blocks in the project.

    set [Motor1 v] velocity to (50) [% v]

Parameters	Description
motor	The motor or motor group to set the velocity of, configured in the Devices window.
velocity	Sets the default movement velocity from 0 to 100 as a percent.
unit	The measurement unit, which can be one of the following: % rpm (rotations per minute)

Parameters

Description

motor

The motor or motor group to set the velocity of, configured in the Devices window.

velocity

Sets the default movement velocity from 0 to 100 as a percent.

unit

The measurement unit, which can be one of the following:

%
rpm (rotations per minute)

Example

    when started :: hat events
    [Spin forward at the default velocity.]
    spin [Motor1 v] [forward v] for (90) [turns v] ▶
    [Spin slower.]
    set [Motor1 v] velocity to (20) [% v]
    spin [Motor1 v] [reverse v] for (90) [turns v] ▶
    [Spin faster.]
    set [Motor1 v] velocity to (100) [% v]
    spin [Motor1 v] [forward v] for (90) [turns v] ▶

set motor stopping #

The set motor stopping block sets how a motor or motor group behaves when it stops.

    set [Motor1 v] stopping to [brake v]

Parameters	Description
motor	The motor or motor group to set the stopping behavior of, configured in the Devices window.
stopping behavior	Sets how the drivetrain stops, which can be one of the following: brake – Stops immediately. coast – Slows gradually to a stop. hold – Stops and resists movement using motor feedback.

Parameters

Description

motor

The motor or motor group to set the stopping behavior of, configured in the Devices window.

stopping behavior

Sets how the drivetrain stops, which can be one of the following:

brake – Stops immediately.
coast – Slows gradually to a stop.
hold – Stops and resists movement using motor feedback.

Example

    when started :: hat events
    [Spin the motor, then coast to a stop.]
    set [Motor1 v] velocity to (100) [% v]
    set [Motor1 v] stopping to [coast v]
    spin [Motor1 v] [forward v]
    wait (2) seconds
    stop [Motor1 v]

set motor max torque #

The set motor max torque block sets how much force a motor or motor group can exert.

    set [Motor1 v] max torque to (50) %

Parameters	Description
motor	The motor or motor group to set the max torque of, configured in the Devices window.
torque	The maximum torque allowed, from 0 to 100 as a percent.

Example

    when started :: hat events
    [Spin the motor at the default torque.]
    spin [Motor1 v] to position (200) [degrees v] ▶
    wait (0.5) seconds
    [Spin at a lower torque.]
    set [Motor1 v] max torque to (20) %
    spin [Motor1 v] to position (0) [degrees v] ▶
    wait (0.5) seconds
    [Spin at the maximum torque.]
    set [Motor1 v] max torque to (100) %
    spin [Motor1 v] to position (200) [degrees v] ▶

set motor timeout #

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

Note: The Motor’s time limit is used to prevent Motor blocks that do not reach their target position from stopping the execution of other blocks in the stack.

    set [Motor1 v] timeout to (1) seconds

Parameters	Description
motor	The motor or motor group to set the timeout of, configured in the Devices window.
time	The maximum number of seconds a Motor block will run before stopping and moving to the next block.

Example

    when started :: hat events
    [Spin the motor forward for 1 second, then reset it.]
    set [Motor1 v] timeout to (1) seconds
    spin [Motor1 v] [forward v] for (5) [turns v] ▶
    spin [Motor1 v] to position (0) [degrees v] ▶

Values #

motor is done?#

The motor is done? block returns a Boolean indicating whether the motor is not spinning.

True - The motor is not spinning.
False - The motor is spinning.

    <[Motor1 v] is done?>

Parameters	Description
motor	The motor or motor group to check, configured in the Devices window.

Example

    when started :: hat events
    [Drive forward until the motor is done spinning.]
    spin [Motor1 v] [forward v] for (200) [degrees v] ◀ and don't wait
    forever
    if <[Motor1 v] is done?> then
    stop driving
    else
    drive [forward v]

motor is spinning?#

The motor is spinning? block returns a Boolean indicating whether the motor is spinning.

True - The motor is spinning.
False - The motor is not spinning.

    <[Motor1 v] is spinning?>

Parameters	Description
motor	The motor or motor group to check, configured in the Devices window.

Example

    when started :: hat events
    [Move forward while the motor is spinning.]
    spin [Motor1 v] [forward v] for (200) [degrees v] ◀ and don't wait
    while <[Motor1 v] is spinning?>
    drive [forward v]
    end
    stop driving

motor position #

The motor position block returns the total distance the selected motor or motor group has rotated.

    ([Motor1 v] position in [degrees v])

Parameters

Description

motor

The motor or motor group to check, configured in the Devices window.

unit

The unit of measurement, which can be one of the following:

degrees
turns

Example

    when started :: hat events
    [Display the motor's position after spinning.]
    print ([Motor1 v] position in [degrees v]) on [Brain v] ◀ and set cursor to next row
    spin [Motor1 v] [forward v]
    wait (1) seconds
    print ([Motor1 v] position in [degrees v]) on [Brain v] ▶
    stop [Motor1 v]

motor velocity #

The motor velocity block returns the current rotational speed of the motor or motor group in a range from -100% to 100% or -127 rpm to 127 rpm.

    ([Motor1 v] velocity in [% v])

Parameters

Description

motor

The motor or motor group to check, configured in the Devices window.

unit

The unit of measurement, which can be one of the following:

%
rpm (rotations per minute)

Example

    when started :: hat events
    [Display the motor's velocity from spinning.]
    print ([Motor1 v] velocity in [rpm v]) on [Brain v] ◀ and set cursor to next row
    spin [Motor1 v] [forward v]
    wait (1) seconds
    print ([Motor1 v] velocity in [rpm v]) on [Brain v] ▶
    stop [Motor1 v]

motor current #

The motor current block returns the amount of electrical current the motor or motor group in a range from 0.0 to 1.2 amps (amperes).

    ([Motor1 v] current in [amps v])

Parameters	Description
motor	The motor or motor group to check, configured in the Devices window.

Example

    when started :: hat events
    [Display the motor's current from spinning.]
    set print precision to [0.01 v] on [Brain v]
    print ([Motor1 v] current in [amps v]) on [Brain v] ◀ and set cursor to next row
    spin [Motor1 v] [forward v]
    wait (1) seconds
    print ([Motor1 v] current in [amps v]) on [Brain v] ▶
    stop [Motor1 v]