MotorGroup

Initializing the MotorGroup Class

The MotorGroup constructor creates a MotorGroup object.

You can create a MotorGroup with any number of Motors.

# Create 2 Motors, motor_1 and motor_2 in
# Ports 1 and 2 respectively. 
motor_1 = Motor(Ports.PORT1)
motor_2 = Motor(Ports.PORT2)
# Using the two previously created Motors, create a
# MotorGroup named motor_group_1.
motor_group_1 = MotorGroup(motor_1, motor_2)

This motor_group_1 object will be used in all subsequent examples throughout this API documentation when referring to MotorGroup class methods.

Class Methods

spin()

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

This is a non-blocking function and allows the next method to run without delay.

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

Returns: None.

# Spin all Motors in motor_group_1 forward.
motor_group_1.spin(FORWARD)

spin_to_position()

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

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

Parameters	Description
rotation	The position to spin the Motors in a MotorGroup to.
units	Optional. A valid RotationUnit. The default is DEGREES.
velocity	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the set_velocity() method will be used.
units_v	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
wait	Optional. Determines whether the method 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 the Motors in motor_group_1 to the position 90
# degrees at 100 RPM.
motor_group_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 all Motors in a MotorGroup for a specific duration, rotations, or until a specific encoder value is reached. The position is relative to the current position of the Motors in the MotorGroup.

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

Parameters	Description
direction	A valid DirectionType.
value	The value for the Motors in a MotorGroup to spin to.
units	Optional. A valid RotationUnit. The default is DEGREES.
velocity	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the set_velocity() method will be used.
units_v	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
wait	Optional. Determines whether the method 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 the Motors in motor_group_1 forward for 10 turns
# at 100% velocity.
motor_group_1.spin_for(FORWARD, 10, TURNS, 100, PERCENT)

stop()

The stop(mode) method is used to stop all Motors in a MotorGroup, 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 set_stopping() method.

Returns: None.

# Spin all Motors in motor_group_1 forward for 2.5 seconds.
motor_group_1.spin(FORWARD)

wait(2.5, SECONDS)

# Stop all Motos in motor_group_1 using the HOLD brake type.
motor_group_1.stop(HOLD)

count()

The count() method returns the number of Motors in the MotorGroup.

Returns: The number of Motors in the MotorGroup.

set_velocity()

The set_velocity(velocity, units) method is used to set the default velocity for all Motors in a MotorGroup. 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 Motors in a MotorGroup.
units	A valid VelocityUnit or PERCENT.

Returns: None.

# Spin the Motors in motor_group_1 forward at 75% velocity.
motor_group_1.set_velocity(75, PERCENT)

motor_group_1.spin(FORWARD)

set_stopping()

The set_stopping(mode) method is used to set the stopping mode for all Motors in a MotorGroup.

Parameters	Description
mode	A valid BrakeType.

Returns: None.

reset_position()

The reset_position() method resets the position of all Motors in a MotorGroup to 0. The position that is returned by the position() method will be updated to 0.

Returns: None.

set_position()

The set_position(value, units) method is used to set the position of all Motors in a MotorGroup. The position that is returned by the position() method will be updated to this new value.

Parameters	Description
value	The new position to set for all Motors in a MotorGroup.
units	A valid RotationUnit.

Returns: None.

set_timeout()

The set_timeout(value, units) method is used to set the timeout for all Motors in a MotorGroup. The position that is returned by the get_timeout() method will be updated to this new value.

Parameters	Description
value	The new timeout to set for all Motors in a MotorGroup.
units	Optional. A valid TimeUnit. The default is MSEC.

Returns: None.

is_spinning()

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

Returns: True if any Motor in the MotorGroup is still spinning. False if the Motors in the MotorGroup have completed the move or a timeout has occurred.

is_done()

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

Returns: True if any Motor in the MotorGroup is still spinning. False if the Motors in the MotorGroup have 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 all Motors in a MotorGroup. The torque can be set as torque units, current units, or a percent of maximum torque.

Parameters	Description
value	The new maximum torque for all Motors in a MotorGroup.
units	A valid TorqueUnit, AMP, or PERCENT.

Returns: None.

direction()

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

Returns: The current DirectionType the first Motor in a MotorGroup is spinning.

position()

The position(units) method returns the current position of the first Motor in a MotorGroup.

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

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

velocity()

The velocity(units) method returns the current velocity of the first Motor in a MotorGroup.

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

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

current()

The current(units) method returns the total current being used by the Motors in a MotorGroup.

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

Returns: The total current being drawn by the Motors in a MotorGroup in the specified units.

power()

The power(units) method returns the power the first Motor in a MotorGroup is providing.

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

Returns: The power the first Motor in a MotorGroup is providing in the specified units.

torque()

The torque(units) method returns the torque the first Motor in a MotorGroup is providing.

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

Returns: The torque the first Motor in a MotorGroup is providing in the specified units.

efficiency()

The efficiency(units) method returns the efficiency of the first Motor in a MotorGroup.

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

Returns: The efficiency of the first Motor in a MotorGroup as a percent.

temperature()

The temperature(units) method returns the temperature of the first Motor in a MotorGroup.

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

Returns: The temperature of the first Motor in a MotorGroup in the specified units.