Motor#

To make Motor commands appear in VEXcode V5, a Motor must be configured in the Devices window.

For more information, refer to these articles:

motor.spin()#

The motor.spin(direction, velocity, units) command spins the motor using the provided arguments.

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

Parameters	Description
`direction`	A valid `DirectionType`.
`velocity`	Optional. Spin the motor using this velocity. The default velocity set by `set_velocity` will be used if not provided.
`units`	Optional. A valid `VelocityUnit` or `VOLT`. The default is `RPM`.

Returns: None.

# Spin motor forward for 2 seconds.
motor1.spin(FORWARD)
wait(2, SECOND)

# Stop spinning.
motor1.stop()

motor.spin_to_position()#

The motor.spin_to_position(rotation, units, velocity, units_v, wait) command 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 used.

Parameters	Description
`rotation`	The position to spin the motor to.
`units`	Optional. A valid `RotationUnits`. The default is `DEGREES`.
`velocity`	Optional. The velocity with which the motor will spin. The default velocity set by `set_velocity` will be used if not provided.
`units_v`	Optional. A valid `VelocityUnits`. 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 to 180 degrees
motor1.spin_to_position(180)

motor.spin_for()#

The motor.spin_for(direction, value, units, velocity, units_v, wait) command spins the motor to a relative position using the provided arguments.

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 `RotationUnits`. The default is `DEGREES`.
`velocity`	Optional. The velocity with which the motor will spin. The default velocity set by `set_velocity` will be used if not provided.
`units_v`	Optional. A valid `VelocityUnits`. 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.

motor.stop()#

The motor.stop(mode) command is used to stop a motor.

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

Returns: None.

# Spin motor forward for 2 seconds.
motor1.spin(FORWARD)
wait(2, SECOND)

# Stop spinning.
motor1.stop()

motor.set_velocity()#

The motor.set_velocity(value, units) command sets the default velocity for the motor.

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

Parameters	Description
`value`	The new velocity.
`units`	Optional. A valid `VelocityUnits`. The default is `RPM`.

Returns: None.

motor.set_reversed()#

The motor.set_reversed(value) command sets the motor direction to be reversed.

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

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

Returns: None.

motor.set_stopping()#

The motor.set_stopping(mode) command sets the stopping mode of the motor.

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

Parameters	Description
`mode`	A valid `BrakeType`. The default is `COAST`.

Returns: None.

# Set the motor to stop with a brake.
motor_1.set_stopping(BRAKE)

motor.reset_position()#

The motor.reset_position() command resets the motor position to 0.

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

Returns: None.

motor.set_position()#

The motor.set_position(value, units) command sets the current position of the motor.

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

Parameters	Description
`value`	The new position.
`units`	Optional. A valid `RotationUnit`. The default is `DEGREES`.

Returns: None.

motor.set_timeout()#

The motor.set_timeout(value, units) command sets the timeout value used by the motor.

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

Parameters	Description
`value`	The new timeout.
`units`	Optional. A valid `TimeUnit`. The default is `MSEC`.

Returns: None.

# Set the motor timeout to 5 seconds.
motor_1.set_timeout(5000, MSEC)

motor.get_timeout()#

The motor.get_timeout() command returns the current value of motor timeout.

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

Returns: The current timeout value.

motor.is_spinning()#

The motor.is_spinning() command returns if the motor is currently spinning.

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

Returns: True if the motor is currently spinning. False if it is not.

motor.is_done()#

The motor.is_done() command returns if the motor has completed its movement.

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

Returns: True if the motor has completed its movement. False if it has not.

motor.set_max_torque()#

The motor.set_max_torque(value, units) command sets the maximum torque the motor will use.

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

Parameters	Description
`value`	The new maximum torque to use.
`units`	A valid `TorqueUnit`, `AMP`, or `PERCENT`.

Returns: None.

# set maximum torque to 2 Newton Meters
motor1.set_max_torque(2, TorqueUnits.NM)

motor.direction()#

The motor.direction() command returns the current direction the motor is spinning in.

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

Returns: The current DirectionType the motor is spinning in.

motor.position()#

The motor.position(units) command returns the position of the motor.

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

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

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

motor.velocity()#

The motor.velocity(units) command returns the velocity of the motor.

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

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

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

motor.current()#

The motor.current(units) command returns the current the motor is using.

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

Parameters	Description
`units`	Optional. The only valid unit for current is `AMP`.

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

motor.power()#

The motor.power(units) command returns the power the motor is providing.

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

Parameters	Description
`units`	Optional. The only valid unit for power is `WATT`.

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

motor.torque()#

The motor.torque(units) command returns the torque the motor is providing.

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

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

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

motor.efficiency()#

The motor.efficiency(units) command returns the efficiency of the motor.

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

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

Returns: The efficiency of the motor as a percent.

motor.temperature()#

The motor.temperature(units) command returns the temperature of the motor.

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

Parameters	Description
`units`	Optional. A valid `TemperatureUnits`. The default is `CELSIUS`.

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

motor.command()#

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

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

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

Returns: The motor command velocity in the specified units.

motor.installed()#

The motor.installed() command checks for device connection.

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

Returns: True or False.

# Check if the motor is installed.
is_installed = motor_1.installed()

motor.timestamp()#

The motor.timestamp() command requests the timestamp of the last received status packet.

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

Returns: Timestamp of the last status packet in milliseconds.

# Get the timestamp of the last received status packet from the motor.
timestamp = motor_1.timestamp()