Motor55

To make Motor55 commands appear in VEXcode V5, a Motor Controller 55 must be configured in the Devices window.

For more information, refer to these articles:

• Connecting and Configuring the Motor Controller 55

Initializing the Motor55 Class

A Motor Controller 55, which is used to control a Direct Current (DC) Motor, is created by using the following constructor:

Motor55(port)

This constructor use two parameters:

Parameter	Description
port	A valid Smart Port that the Distance Sensor is connected to.
reverse	Optional. True to reverse the DC Motor’s spin direction. By default, this is False.

# Construct a Motor Controller 55 "m55_1" with the
# Motor55 class.
m55_1 = Motor55(Ports.PORT1)

This m55_1 object will be used in all subsequent examples throughout this API documentation when referring to Motor55 class methods.

Class Methods

spin()

The spin(direction, velocity, units) command turns on the Motor and spins it in a specified direction and a specified voltage.

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

Parameters	Description
direction	The direction to spin the Motor.
velocity	Optional. Spin the Motor using this velocity, the default velocity set by the set_velocity method will be used if not provided.
units	Optional. A valid VelocityUnits. The default is VOLT.

Returns: None.

stop()

The stop() command stops the Motor using the default brake mode.

Returns: None.

set_reversed

The set_reversed(value) command sets the Motor mode to “reverse”, which will make Motor commands spin the Motor in the opposite direction.

Parameters	Description
value	If set to true, Motor commands spin the Motor in the opposite direction.

Returns: None.

set_velocity()

The set_velocity(velocity, units) command sets the velocity of the Motor based on the parameters set in the command. This command will not run the Motor. Any subsequent call that does not contain a specified Motor velocity will use this value.

Parameters	Description
velocity	Sets the new velocity.
units	The units for the supplied velocity, the only valid unit is PERCENT.

Returns: None.

set_stopping()

The set_stopping(mode) command sets the stopping mode of the Motor by passing a brake mode as a parameter.

Parameters	Description
mode	The stopping mode can be set to coast or brake, hold is not supported on the MC55.

Returns: None.

set_max_torque()

The set_max_torque(value, units) command sets the max torque of the Motor.

Parameters	Description
value	Sets the amount of torque.
units	The unit for the torque value, only AMP is supported for an MC55.

Returns: None.

current()

The current(units) command gets the electrical current of the Motor.

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

Parameters	Description
units	Optional. The measurement unit for the current.

Returns: A double that represents the electrical current of the Motor in the units defined in the parameter.

get_max_voltage()

The get_max_voltage() command gets the maximum electrical voltage of the Motor corresponding to 100%.

Parameters	Description
units	The measurement unit for the voltage.

Returns: The Motor’s maximum voltage in mV.

temperature()

The temperature(units) command gets the temperature of the Motor.

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

Returns: A double that represents the temperature of the Motor in the units defined in the parameter.

get_motor_type()

The get_motor_type() command gets the type of the Motor, 11W, 5.5W, or MC55.

Returns: An integer that returns the type of the Motor, 0 is 11W, 1 is 5.5W, 2 is MC55.