Motor#

Introduction #

The IQ Smart Motor can spin, hold position, and control velocity and torque with precision. It can be used individually or as part of a motor group.

For the examples below, the configured motor will be named motor_1, and the configured motor group will be named motor_group_1. They will be used in all subsequent examples throughout this API documentation when referring to Motor and MotorGroup class methods.

Below is a list of all methods:

Actions – Control the movement of motors.

spin – Spins a motor or motor group in a specified direction indefinitely.
spin_for – Spins a motor or motor group for a specified distance.
spin_to_position – Spins a motor to an absolute position.
stop – Stops a motor or motor group with configurable behavior.

Mutators – Change the motor’s different attributes.

set_velocity – Sets the default velocity for the motor or motor group.
set_max_torque – Sets the maximum torque for a motor or motor group.
set_position – Sets the motor or motor group’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.
set_reversed – Sets only a motor to have its direction be reversed.
reset_position – Sets only a motor’s position to 0.

Getters – Return data from motors.

position – Returns a motor or motor group’s current position.
velocity – Returns a motor or motor group’s current velocity.
current – Returns the current being used by a motor or motor group.
is_done – Returns whether a motor or motor group is currently not spinning.
is_spinning – Returns whether a motor or motor group is currently spinning.
direction – Returns the spin direction of a motor or motor group.
power – Returns the amount of power being used by a motor or motor group.
torque – Returns the torque generated by a motor or motor group.
efficiency – Returns the efficiency of a motor or motor group.
temperature – Returns the temperature of a motor or motor group.
count – Returns the amount of motors in a motor group.
get_timeout – Returns only a motor’s current timeout duration.

Constructors – Manually initialize and configure motors and motor groups.

Motor – Creates a motor.
MotorGroup – Creates a motor group.

Actions #

spin #

spin spins a motor or motor group in the specified direction indefinitely.

Usage:
motor_1.spin(direction, velocity, units)

Parameters

Description

direction

The direction in which to spin the motor or motor group:

FORWARD
REVERSE

velocity

Optional. The velocity at which the motor or motor group will spin as a float or integer. If the velocity is not specified, the default velocity is 50%.

units

Optional. The unit that represents the velocity:

PERCENT
RPM – Rotations per minute
VelocityUnits.DPS – Degrees per second

# Spin the motor forward, then stop
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()

spin_for #

spin_for spins a motor or motor group in a specified direction for a set distance relative to its current position.

Usage:
motor_1.spin_for(direction, angle, units, velocity, units_v, wait)

Parameters	Description
`direction`	The direction in which to spin the motor or motor group: `FORWARD` `REVERSE`
`angle`	The amount of degrees the motor or motor group will spin as a float or integer.
`units`	Optional. The unit that represents the rotational value: `DEGREES` (default) `TURNS`
`velocity`	Optional. The velocity at which the motor or motor group will spin as a float or integer. If the velocity is not specified, the default velocity is 50%.
`units_v`	Optional. The unit that represents the velocity: `PERCENT` `RPM` (default) – Rotations per minute
`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.

# Spin the motor forward, then put it 
# at 90 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(90, DEGREES)

# Spin the motor and different 
# velocities
# Using default velocity
motor_1.spin_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Spin slower
motor_1.spin_for(REVERSE, 150, MM, 20, PERCENT)
wait(1, SECONDS)
# Spin faster
motor_1.spin_for(FORWARD, 150, MM, 100, PERCENT)

spin_to_position #

spin_to_position spins a motor and motor group to an absolute position.

Usage:
motor_1.spin_to_position(rotation, units, velocity, units_v, wait)

Parameters	Description
`rotation`	The position to spin the motor or motor group to as a float or integer.
`units`	The unit that represents the rotational value: `DEGREES` `TURNS`
`velocity`	Optional. The velocity at which the motor or motor group will spin as a float or integer. If the velocity is not specified, the default velocity is 50%.
`units_v`	Optional. The unit that represents the velocity: `PERCENT` `RPM` – Rotations per minute `VelocityUnits.DPS` – Degrees per second
`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.

# Spin the motor forward, then 
# put it at 90 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(90, DEGREES)

# Spin forward then quickly reverse 
# to 0 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(0, DEGREES, 100, PERCENT, wait=True)

stop #

stop stops a motor or motor group.

Usage:
motor_1.stop(mode)

Parameters	Description
`mode`	Optional. How the motor or motor group will stop: `COAST` – Slows gradually to a stop. `BRAKE` (default) – Stops immediately. `HOLD` – Stops and resists movement using motor feedback.

Parameters

Description

mode

Optional. How the motor or motor group will stop:

COAST – Slows gradually to a stop.
BRAKE (default) – Stops immediately.
HOLD – Stops and resists movement using motor feedback.

# Spin the motor forward, then stop
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()

# Spin the motor and coast to a stop
motor_1.set_velocity(100, PERCENT)
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop(COAST)

Mutators #

set_velocity #

set_velocity sets the default velocity for a motor or motor group. This velocity setting will be used for subsequent calls to any motor functions if a specific velocity is not provided.

Usage:
motor_1.set_velocity(velocity, units)

Parameters	Description
`velocity`	The velocity at which the motor or motor group will spin as a float or integer.
`units`	Optional. The unit that represents the velocity: `PERCENT` `RPM` (Rotations per minute) `VelocityUnits.DPS` (Degrees per second)

Parameters

Description

velocity

The velocity at which the motor or motor group will spin as a float or integer.

units

Optional. The unit that represents the velocity:

PERCENT
RPM (Rotations per minute)
VelocityUnits.DPS (Degrees per second)

# Spin the motor and 
# different velocities
# Using default velocity
motor_1.spin_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Spin slower
motor_1.set_velocity(20, PERCENT)
motor_1.spin_for(REVERSE, 150, MM)
wait(1, SECONDS)
# Spin faster
motor_1.set_velocity(100, PERCENT)
motor_1.spin_for(FORWARD, 150, MM)

set_max_torque #

set_max_torque sets the maximum torque for a motor or motor group. The torque can be set as torque, current, or a percent of maximum torque.

Usage:
motor_1.set_max_torque(value, units)

Parameters	Description
`value`	The new maximum torque for a motor or motor group as a float or integer.
`units`	The unit that represents the torque: `PERCENT` `TorqueUnits.NM` (Newton Meters) `TorqueUnits.INLB` (Inch Pounds)

Parameters

Description

value

The new maximum torque for a motor or motor group as a float or integer.

units

The unit that represents the torque:

PERCENT
TorqueUnits.NM (Newton Meters)
TorqueUnits.INLB (Inch Pounds)

# Spin the motor at different 
# torque values
# Default
motor_1.spin_to_position(45, DEGREES)
# Spin at a lower torque
motor_1.set_max_torque(20, PERCENT)
motor_1.spin_to_position(0, DEGREES)
# Spin at te max torque
motor_1.set_max_torque(100, PERCENT)
motor_1.spin_to_position(45, DEGREES)

set_position #

set_position sets the position of a motor or motor group.

Usage:
motor_1.set_position(position, units)

Parameters	Description
`position`	The new position as an integer.
`units`	The unit that represents the rotational value: `DEGREES` `TURNS`

Parameters

Description

position

The new position as an integer.

units

The unit that represents the rotational value:

DEGREES
TURNS

# Position the motor at the 
# new 0 degrees
motor_1.set_position(180, DEGREES)
motor_1.spin_to_position(0)

set_stopping #

set_stopping sets the stopping mode for a motor or motor group.

Usage:
motor_1.set_stopping(mode)

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

Parameters

Description

mode

How the motor or motor group will stop:

BRAKE – Stops immediately.
COAST – Slows gradually to a stop.
HOLD – Stops and resists movement using motor feedback.

# Spin the motor and coast to a stop
motor_1.set_velocity(100, PERCENT)
motor_1.set_stopping(COAST)
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop()

set_timeout #

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

Note: The motor or motor group’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:
motor_1.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

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

# Set a 0.5 second timeout for motor actions
motor_1.set_timeout(0.5, SECONDS)

# Try a long move that will time out early
motor_1.spin_for(FORWARD, 2, TURNS)
motor_1.spin_to_position(0, DEGREES)

set_reversed #

set_reversed sets the motor to be reversed. This method works the same as setting the reverse parameter to True when constructing a Motor.

Note: This method will only work with a motor and not a motor group.

Usage:
motor_1.set_reversed(value)

Parameters	Description
`value`	Boolean value to set the direction reversed or not: `True` – Reverse the motor’s direction `False` – Return the motor’s direction to its default

Parameters

Description

value

Boolean value to set the direction reversed or not:

True – Reverse the motor’s direction
False – Return the motor’s direction to its default

# Change the reverse direction while spinning
motor_1.spin_for(FORWARD, 45)
motor_1.set_reversed(True)
motor_1.spin_for(FORWARD, 45)

reset_position #

reset_position sets the motor or motor group’s position to 0.

Usage:
motor_1.reset_position()

Parameters	Description
	This method has no parameters.

# Spin to 360 degrees, then reset the encoder
motor_1.spin_to_position(360, DEGREES)
motor_1.reset_position()

# Move again to 90 degrees from new zero point
motor_1.spin_to_position(90, DEGREES)

Getters #

position #

position returns the current position of a motor or motor group as an integer or as a float.

Usage:
motor_1.position(units)

Parameters	Description
`units`	Optional. The unit that represents the rotational value: `DEGREES` (default) `TURNS`

Parameters

Description

units

Optional. The unit that represents the rotational value:

DEGREES (default)
TURNS

# Spin the motor and display the 
# ending position
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()
brain.screen.print(motor_1.position())

velocity #

velocity returns the current velocity of a motor or motor group as an integer or as a float.

Usage:
motor_1.velocity(units)

Parameters	Description
`units`	Optional. The unit that represents the velocity: `PERCENT` `RPM` (default) – Rotations per minute `VelocityUnits.DPS` (Degrees per second)

Parameters

Description

units

Optional. The unit that represents the velocity:

PERCENT
RPM (default) – Rotations per minute
VelocityUnits.DPS (Degrees per second)

current #

current returns the current of the motor or motor group in amps.

Usage:
motor_1.current(units)

Parameters	Description
`units`	Optional. The unit that represents the current: `CurrentUnits.AMP` – Amps

Parameters

Description

units

Optional. The unit that represents the current:

CurrentUnits.AMP – Amps

is_done #

is_done returns a Boolean indicating whether a motor or motor group is not currently spinning.

True – The motor or motor group is not spinning.
False – The motor or motor group is spinning.

Usage:
motor_1.is_done()

Parameters	Description
	This method has no parameters.

is_spinning #

is_spinning returns a Boolean indicating whether a motor or motor group is currently spinning.

True – The motor or motor group is spinning.
False – The motor or motor group is not spinning.

Usage:
motor_1.is_spinning()

Parameters	Description
	This method has no parameters.

direction #

direction returns the current direction a motor or motor group is spinning in.

FORWARD
REVERSE

Usage:
motor_1.direction()

Parameters	Description
	This method has no parameters.

power #

power returns the power that the motor is using in watts.

Usage:
motor_1.power()

Parameters	Description
	This method has no parameters.

torque #

torque returns the current torque of the motor.

Usage:
motor_1.torque(units)

Parameters	Description
`units`	The unit that represents the torque: `TorqueUnits.NM` (default) – Newton meters `TorqueUnits.INLB` – Inch pounds

Parameters

Description

units

The unit that represents the torque:

TorqueUnits.NM (default) – Newton meters
TorqueUnits.INLB – Inch pounds

efficiency #

efficiency returns the current efficiency of the motor in percent.

Usage:
motor_1.efficiency()

Parameters	Description
	This method has no parameters.

temperature #

temperature returns the current temperature of the motor.

Usage:
motor_1.temperature(units)

Parameters	Description
`units`	Optional. The units that represent the temperature: `TemperatureUnits.CELSIUS` (default) `TemperatureUnits.FAHRENHEIT`

Parameters

Description

units

Optional. The units that represent the temperature:

TemperatureUnits.CELSIUS (default)
TemperatureUnits.FAHRENHEIT

count #

count returns the number of motors in a motor group as an integer.

Note: This method will only work with a motor group and not a motor.

Usage:
motor_group_1.count()

Parameters	Description
	This method has no parameters.

get_timeout #

get_timeout returns the current timeout for a motor in milliseconds.

Note: This method will only work with a motor and not a motor group.

Usage:
motor_1.get_timeout()

Parameters	Description
	This method has no parameters.

Constructors #

Constructors are used to manually create Motor and MotorGroup objects, which are necessary for configuring a motor or motor group outside of VEXcode.

Motor #

Motor creates a motor.

Usage:
motor_1 = Motor(port, gears, reverse)

Parameter	Description
`port`	Which Smart Port that the motor is connected to as `Ports.PORT` followed by the port number, ranging from 1 to 12.
`gears`	Optional. The motor’s gear ratio: `GearSetting.RATIO_1_1` (default) – 1:1 Ration `GearSetting.RATIO_2_1` – 2:1 Ratio `GearSetting.RATIO_3_1` – 3:1 Ratio
`reverse`	Optional. Sets whether the motor’s spin should be reversed. `True` – Motor is reversed `False` (default) – Motor is not reversed

Parameter

Description

port

Which Smart Port that the motor is connected to as Ports.PORT followed by the port number, ranging from 1 to 12.

gears

Optional. The motor’s gear ratio:

GearSetting.RATIO_1_1 (default) – 1:1 Ration
GearSetting.RATIO_2_1 – 2:1 Ratio
GearSetting.RATIO_3_1 – 3:1 Ratio

reverse

Optional. Sets whether the motor’s spin should be reversed.

True – Motor is reversed
False (default) – Motor is not reversed

# Create a reversed motor
motor_1 = Motor(Ports.PORT1, 1.0, True)

Motor Group #

MotorGroup creates a motor group.

Usage:
motor_group_1 = MotorGroup(motors)

Parameter	Description
`motors`	The names of previously created `Motor` objects to be put in the motor group. Up to 12 `Motor` objects can be added to the group.

# Create two motors
motor_group_1_motor_a = Motor(Ports.PORT1, False)
motor_group_1_motor_b = Motor(Ports.PORT6, True)

# Create a motor group with those motors
motor_group_1 = MotorGroup(motor_group_1_motor_a, motor_group_1_motor_b)