电机控制器 55#

介绍#

The motor55 class is used to control a VEX Motor Controller 55 connected to the EXP Brain. The Motor Controller 55 is a legacy motor controller designed to operate 2-wire DC motors.

The VEX Motor Controller 55.

类构造函数#

1 — Creates a motor55 object on the specified Smart Port.

motor55(
  int32_t index );

2 — Creates a motor55 object on the specified Smart Port and changes the positive turning direction.

motor55(
  int32_t index,
  bool    reverse );

3 — Creates a motor55 object on the specified Smart Port, sets the maximum drive voltage, and changes the positive turning direction.

motor55(
  int32_t index,
  double  maxv,
  bool    reverse );

类析构函数#

Destroys the motor55 object and releases associated resources.

~motor55();

参数#

范围

类型

描述

index

int32_t

The Smart Port that the Motor Controller 55 is connected to, written as PORTx, where x is the port number (for example, PORT1).

reverse

bool

Determines whether the motor’s direction is reversed:

  • true — The motor’s positive direction is reversed.
  • false — The motor’s positive direction remains normal.

maxv

double

电机控制器 55 可以施加到电机的最大电压。

例子#

// Create the motor55 instance in Smart Port 1
motor55 Motor1 = motor55(PORT1);

成员功能#

The motor55 class includes the following member functions:

  • spin — Spins the motor in a specified direction.

  • stop — Stops the motor.

  • setVelocity — Tells the DC motor how fast to spin.

  • setStopping — Sets the stopping behavior (coast or brake).

  • setReversed — Sets whether the motor’s direction is reversed.

  • current — Returns the motor’s electrical current.

  • voltage — Returns the motor’s electrical voltage.

  • temperature — Returns the motor temperature.

  • getMotorType — Returns the detected motor/controller type.

  • installed — Returns whether the Motor Controller 55 is detected on the specified Smart Port.

Before calling any motor55 member functions, an instance must be created, as shown below:

/* This constructor is required when using VS Code.
Motor Controller 55 configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the motor55 instance in Smart Port 1
motor55 MC55_1 = motor55(PORT1);

spin#

使电机沿指定方向无限期旋转。

可用功能

1 — 使用 当前配置的速度 旋转。

void spin(
  directionType dir );

2 — 在指定电压下旋转。

void spin(
  directionType dir,
  double        voltage,
  voltageUnits  units );

参数

范围

类型

描述

dir

directionType

The direction in which the motor spins: forward or reverse.

voltage

double

The voltage value applied to the motor. A negative value spins opposite the given dir.

units

voltageUnits

The unit used to represent voltage:

  • volt — volts
  • voltageUnits::mV — millivolts

返回值

此函数不返回值。

条笔记

  • 该函数不等待，调用后程序立即继续执行。

  • The motor will continue spinning until stop is called or another spin is used.

stop#

使用当前配置的制动模式 停止电机旋转。

可用功能 

void stop();

参数

此函数不接受任何参数。

返回值

此函数不返回值。

条笔记

  • Stops the motor using the currently configured stopping mode set by setStopping.

setVelocity#

Tells a DC motor how fast to spin. A higher percentage makes the DC motor spin faster and a lower percentage makes the DC motor spin slower.

Every project begins with each connected DC motor spinning at 50% velocity by default.

可用功能 

void setVelocity(
    double       velocity,
    percentUnits units = percent );

参数

范围

类型

描述

velocity

double

The velocity to spin with from 0% to 100% when using percent.

units

percentUnits

The velocity unit: percent / pct — percent.

返回值

此函数不返回值。

条笔记

  • Any subsequent call to spin without a specified voltage will use this value.

setStopping#

设置电机停止时的行为方式。

可用功能 

void setStopping(
    brakeType mode );

参数

范围

类型

描述

mode

brakeType

The stopping mode applied when stop is called:

  • coast — Motor coasts to a stop
  • brake — Motor stops quickly using braking

返回值

此函数不返回值。

条笔记

  • Any subsequent call to stop will use this stopping mode.

  • The Motor Controller 55 supports coast and brake only. hold is not supported.

setReversed#

设置是否反转电机的旋转方向。

可用功能 

void setReversed(
    bool value );

参数

范围

类型

描述

value

bool

Whether the motor’s direction is reversed:

  • true — Reverses the motor’s direction.
  • false — Returns the motor’s direction to its default.

返回值

此函数不返回值。

条笔记

  • Calling setReversed is the same as changing the reverse parameter in the constructor.

current#

current returns how much electrical current the DC motor is using. Current is the amount of electricity flowing through the DC motor. When returned in amps, current is reported from 0.0 to 1.2 A.

A higher current value means the DC motor is using more electrical current. This can happen when the DC motor is lifting something heavy, pushing against an object, or trying to move when it is stuck.

This can be used to check if the DC motor is struggling during a movement. If current stays high, the motor may get warmer or use power less efficiently.

Available Functions

1 — Returns the DC motor’s electrical current in amps.

double current(
  currentUnits units = amp );

2 — Returns the DC motor’s electrical current as a percentage of maximum rated current.

double current(
  percentUnits units );
Parameters

范围

类型

描述

units

currentUnits

The unit used to represent current:amp (default) — amperes

units

percentUnits

Represents current as a percentage of the motor’s maximum rated current:percent / pct — percent
Return Values

Returns a double representing how much electrical current the DC motor is using in the specified units.

voltage#

返回提供给电机的电压。

Available Functions 
double voltage(
  voltageUnits units = volt );

参数

范围

类型

描述

units

voltageUnits

The unit to represent the voltage:

  • volt (default)
  • voltageUnits::mV — millivolts

返回值

Returns a double representing the motor’s electrical voltage in the specified units.

temperature#

temperature returns the temperature of the DC motor.

Motor temperature shows how warm the DC motor is. A higher temperature means the DC motor is getting warmer while it works. The motor should stay below 55°C to keep working at full performance.

If the DC motor gets too hot, it will lower its maximum current to protect itself. At 70°C, the motor will stop running until it cools down.

This can be used to check if the DC motor is getting too hot during repeated movements, long runs, or when it is pushing against an object.

Available Functions

1 — Returns DC motor temperature as a percentage of maximum operating temperature.

double temperature(
  percentUnits units = percent );

2 — Returns DC motor temperature in physical temperature units.

double temperature(
  temperatureUnits units );

参数

范围

类型

描述

units

percentUnits

The unit used to represent DC motor temperature as a percentage:

  • percent / pct (default) — percent

units

temperatureUnits

The unit used to represent DC motor temperature in degrees:

  • celsius — degrees Celsius
  • fahrenheit — degrees Fahrenheit

返回值

Returns a double representing the DC motor’s temperature in the specified units.

条笔记

  • The operating temperature range for the motor is approximately 20°C (68°F) to 70°C (158°F).

getMotorType#

返回检测到的电机/控制器类型。

可用功能 

int32_t getMotorType();

参数

此函数不接受任何参数。

返回值

Returns an int32_t indicating the detected motor/controller type:

  • 0 — 11W Motor
  • 1 — 5.5W Motor
  • 2 — Motor Controller 55

installed#

返回电机控制器 55 是否连接到 EXP 大脑。

Available Functions 
bool installed();

参数

此函数不接受任何参数。

返回值

Returns a bool indicating if the Motor Controller 55 is connected.

  • true — The Motor Controller 55 is connected.
  • false — The Motor Controller 55 is not connected.
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