电机组#

初始化 motor_group 类 #

使用以下构造函数创建 EXP motor_group 对象：

The motor_group constructor creates a motor_group object.

您可以创建具有任意数量电机的 motor_group。

// Create 2 Motors, Motor1 and Motor2 in
// Ports 1 and 2 respectively. 
Motor1 = motor(PORT1);
Motor1 = motor(PORT2);
// Using the two previously created Motors, create a
// motor_group named MotorGroup1.
motor_group MotorGroup1 = motor_group(Motor1, Motor2);

This MotorGroup1 object will be used in all subsequent examples throughout this API documentation when referring to MotorGroup class methods.

The spin(dir) command is used to spin the Motors in the specified direction forever at the default velocity set by the setVelocity() command, until a spin or stop command is used, or the project is stopped.

参数	描述
`dir`	A valid `directionType`.

**返回：**无。

// Spin MotorGroup1 forward.
MotorGroup1.spin(forward);

The spin(dir, velocity, units) command is used to spin the Motors in the specified direction forever at a specified velocity, until a spin or stop command is used, or the project is stopped.

参数	描述
`dir`	A valid `directionType`.
`velocity`	电机旋转的速度。
`units`	A valid `velocityUnit` or `percent`.

**返回：**无。

// Spin MotorGroup1 forward at 100 rpm.
MotorGroup1.spin(forward, 100, rpm);

The spin(dir, voltage, units) command is used to spin the Motors in the specified direction forever at a specified voltage until a spin or stop command is used, or the project is stopped.

参数	描述
`dir`	A valid `directionType`.
`voltage`	电机旋转的电压。
`units`	A valid `voltageUnit`.

**返回：**无。

// Spin MotorGroup1 forward at 100 millivolts.
MotorGroup1.spin(forward, 100, voltageUnits::mV);

spinToPosition()#

This function can be a waiting or non-waiting command depending on if the waitForCompletion parameter is used.

该方法通过以下方式调用：

The spinToPosition(rotation, units, waitForCompletion) command is used to spin the Motors to an absolute rotation in the specified units.

参数	描述
`rotation`	电机旋转的位置。
`units`	A valid `rotationUnit`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 to the absolute position 1080 degrees.
MotorGroup1.spinToPosition(1080, degrees);

The spinToPosition(rotation, units, velocity, units_v, waitForCompletion) command is used to spin the Motors to an absolute rotation in the specified units.

参数	描述
`rotation`	电机旋转的位置。
`units`	A valid `rotationUnit`.
`velocity`	电机旋转的速度。
`units_v`	A valid `velocityUnit`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 to the absolute position 1080 degrees 
// at 100 percent velocity.
MotorGroup1.spinToPosition(1080, degrees, 100, velocityUnits::pct);

spinFor()#

This can be a waiting or non-waiting command depending on if the waitForCompletion parameter is used.

该方法通过以下方式调用：

The spinFor(time, units) command is used to spin the Motors for a specified duration.

参数	描述
`time`	电机旋转的时间。
`units`	A valid `timeUnit`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 for 10 seconds
MotorGroup1.spinFor(10, seconds);

The spinFor(dir, time, units) command is used to spin the Motors for a specified duration in a specified direction.

参数	描述
`dir`	A valid `directionType`.
`time`	电机旋转的时间。
`units`	A valid `timeUnit`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 forward for 10 seconds
MotorGroup1.spinFor(forward, 10, seconds);

The spinFor(time, units, velocity, units_v) command is used to spin the Motors for a specified duration at a specified velocity.

参数	描述
`time`	电机旋转的时间。
`units`	A valid `timeUnit`.
`velocity`	电机旋转的速度。
`units_v`	A valid `velocityUnit`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 for 10 seconds at 100 rpm.
MotorGroup1.spinFor(10, seconds, 100, rpm);

The spinFor(dir, time, units, velocity, units_v) command is used to spin the Motors for a specified duration at a specified velocity in a specified direction.

参数	描述
`dir`	A valid `directionType`.
`time`	电机旋转的时间。
`units`	A valid `timeUnit`.
`velocity`	电机旋转的速度。
`units_v`	A valid `velocityUnit`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 forward for 10 seconds at 100 rpm.
MotorGroup1.spinFor(forward, 10, seconds, 100, rpm);

The spinFor(rotation, units, waitForCompletion) command is used to spin the Motors for a specific rotation. The rotation is relative to the current rotation of the Motor.

参数	描述
`rotation`	电机旋转的旋转值。
`units`	A valid `rotationUnit`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 for 1000 degrees.
MotorGroup1.spinFor(1000, degrees);

The spinFor(dir, rotation, units, waitForCompletion) command is used to spin the Motors for a specific rotation in a specific direction. The rotation is relative to the current rotation of the Motor.

参数	描述
`dir`	A valid `directionType`.
`rotation`	电机旋转的旋转值。
`units`	A valid `rotationUnit`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 forward for 1000 degrees.
MotorGroup1.spinFor(forward, 1000, degrees);

The spinFor(rotation, units, velocity, units_v, waitForCompletion) command is used to spin the Motors for a specific rotation. The rotation is relative to the current rotation of the Motor.

参数	描述
`rotation`	电机旋转的旋转值。
`units`	A valid `rotationUnit`.
`velocity`	电机旋转的速度。
`units_v`	A valid `velocityUnit`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 for 1000 degrees at 25 rpm.
MotorGroup1.spinFor(1000, degrees, 25, rpm);

The spinFor(dir, rotation, units, velocity, units_v, waitForCompletion) command is used to spin the Motors for a specific rotation in a specific direction. The rotation is relative to the current rotation of the Motor.

参数	描述
`dir`	A valid `directionType`.
`rotation`	电机旋转的旋转值。
`units`	A valid `rotationUnit`.
`velocity`	电机旋转的速度。
`units_v`	A valid `velocityUnit`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin MotorGroup1 forard for 1000 degrees at 25 rpm.
MotorGroup1.spinFor(forward, 1000, degrees, 25, rpm);

stop()#

这是一个非等待命令，允许下一个命令无延迟运行。

该方法通过以下方式调用：

The stop() command is used to stop the Motors, setting them to 0 velocity and configuring the current stopping mode. The default Brake Type is coast, unless previously changed using the setStopping() command.

**返回：**无。

// Spin MotorGroup1 for 2.5 seconds.
MotorGroup1.spin(forward);

wait(2.5 seconds);

// Stop MotorGroup1.
MotorGroup1.stop();

The stop(mode) command is used to stop the Motors using a specific Brake Type.

参数	描述
`mode`	A valid `brakeType`.

**返回：**无。

// Spin MotorGroup1 for 2.5 seconds.
MotorGroup1.spin(forward);

wait(2.5 seconds);

// Stop MotorGroup1 using the hold Brake Type.
MotorGroup1.stop(hold);

count()#

The count() command returns the number of Motors in a Motor Group.

**返回：**电机组中电机的数量。

setVelocity()#

The setVelocity(velocity, units) command is used to set the default velocity for the Motors. This velocity setting will be used for subsequent calls to any motion functions if a specific velocity is not provided.

参数	描述
`velocity`	为电机设置的新速度。
`units`	A valid `velocityUnit` or `percent`.

**返回：**无。

setStopping()#

The setStopping(mode) command is used to set the stopping mode for the Motors. This will be the stopping mode used when the stop() command is called without specifying a brakeType.

参数	描述
`mode`	A valid `brakeType`.

**返回：**无。

resetPosition()#

The resetPosition() command resets the value of all Motor encoders to 0.

**返回：**无。

setPosition()#

The setPosition(value, units) command is used to set the value of all Motor encoders to a specified value. The position that is returned by the position() command will be updated to this new value.

参数	描述
`value`	为所有电机编码器设置的新值。
`units`	A valid `rotationUnit`.

**返回：**无。

setTimeout()#

The setTimeout(value, units) command is used to set the timeout for Motor Group commands. If a Motor does not reach its’ commanded position prior to the completion of the timeout, the Motors will stop.

参数	描述
`value`	为电机设置的新超时。
`units`	A valid `timeUnit`.

**返回：**无。

isSpinning()#

The isSpinning() command returns if any Motor is currently rotating to a specific target.

Returns: true if any Motor is on and is rotating to a target. false if all Motors are done rotating to a target.

isDone()#

The isDone() command returns if all Motors are done rotating to a specific target.

Returns: true if all Motors are done rotating to a target. false if any Motor is on and rotating to a target.

setMaxTorque()#

该方法通过以下方式调用：

The setMaxTorque(value, units) command is used to set the maximum torque for the Motors in torqueUnits.

参数	描述
`value`	电机的新最大扭矩。
`units`	A valid `torqueUnit`.

**返回：**无。

// Set maximum torque to 2 Newton Meters.
MotorGroup1.set_max_torque(2, Nm);

The setMaxTorque(value, units) command is used to set the maximum torque for the Motors in currentUnits.

参数	描述
`value`	电机的新最大扭矩。
`units`	The only valid unit is `amp`.

**返回：**无。

// Set maximum torque to ,05 amps.
MotorGroup1.set_max_torque(.05, amp);

The setMaxTorque(value, units) command is used to set the maximum torque for a Motor as a percentage.

参数	描述
`value`	电机的新最大扭矩。
`units`	The only valid unit is `percent`.

**返回：**无。

// Set maximum torque to 75 percent.
MotorGroup1.set_max_torque(75, percent);

convertVelocity()#

The convertVelocity(velocity, units, unitsout) command converts the velocity in the given units to the given output units based on the Motor gearing of the first Motor in the Group.

参数	描述
`velocity`	转换的速度。
`units`	A valid `velocityUnit` for the input velocity.
`unitsout`	A valid `velocityUnit` for the output velocity.

**返回：**表示转换为指定输出单位的速度的双精度数。

参数	描述
`units`	A valid `rotationUnit`.

返回： 一个双精度值，表示组中第一个电机以指定单位的当前旋转速度。

velocity()#

The velocity(units) command returns the current velocity of the first Motor in the Group.

参数	描述
`units`	A valid `velocityUnit` or `percent`.

**返回：**以指定单位表示组中第一个电机的当前速度的双精度值。

current()#

The current(units) command returns the current being used by the first Motor in the Group.

参数	描述
`units`	The only valid units for current are `amp` or `percent`.

**返回：**一个双精度数，表示组中第一个电机以指定单位所消耗的电流。

voltage()#

The voltage(units) command returns the voltage of the first Motor in the Group.

参数	描述
`units`	A valid `voltageUnit`. The default is `volt`.

**返回：**以指定单位表示组中第一个电机的电压的双精度值。

power()#

The power(units) command returns the power being consumed by the first Motor in the Group.

参数	描述
`units`	The only valid unit for power is `watt`.

**返回：**以指定单位表示组中第一个电机的当前功率的双精度值。

torque()#

The torque(units) command returns the torque of the first Motor in the Group.

参数	描述
`units`	A valid `torqueUnit`.

**返回：**组中第一个电机的指定单位的扭矩。

efficiency()#

The efficiency(units) command returns the efficiency of the first Motor in the Group.

参数	描述
`units`	The only valid unit for efficiency is `percent`.

**返回：**组中第一个电机的效率百分比。

temperature()#

The temperature(units) command returns the current temperature of the first Motor in the Group.

参数	描述
`units`	A valid `temperatureUnit` or `percent`.

**返回：**组中第一个电机的当前温度（以指定单位表示）。

电机组#

初始化 motor_group 类 #

类方法 #

spin()#

spinToPosition()#

spinFor()#

stop()#

count()#

setVelocity()#

setStopping()#

resetPosition()#

setPosition()#

setTimeout()#

isSpinning()#

isDone()#

setMaxTorque()#

convertVelocity()#

getMotorCartridge()#

direction()#

position()#

velocity()#

current()#

voltage()#

power()#

torque()#

efficiency()#

temperature()#