– title: Motor 393 (Motor Controller 29) | VEX EXP - C++ API description: Reference documentation for the motor29 class in VEX EXP C++. Includes constructors, functions, parameters, notes, and usage examples.

电机 393（电机控制器 29）

介绍

The motor29 class is used to control a Motor Controller 29 connected to a 3-Wire Port. The Motor Controller 29 sends a PWM signal from the EXP Brain to operate a VEX Motor 393.

类构造函数

1 — Creates a motor29 object on the specified 3-Wire Port.

motor29(
    triport::port &port );

2 — Creates a motor29 object on the specified 3-Wire Port and changes the positive turning direction.

motor29(
    triport::port &port,
    bool           reverse );

类析构函数

Destroys the motor29 object and releases associated resources.

~motor29();

参数

范围	类型	描述
port	triport::port&	The 3-Wire Port that the Motor Controller 29 is connected to, written as Brain.ThreeWirePort.X or ExpanderName.X, where X is the port letter (for example, Brain.ThreeWirePort.A or Expander1.A).
reverse	bool	Sets whether the motor’s spin direction is reversed: false (default) — Does not reverse the motor’s direction. true — Reverses the motor’s direction.

例子

// Create a Motor Controller 29 instance in 3-Wire Port A
motor29 Motor393_A = motor29(
    Brain.ThreeWirePort.A );

成员功能

The motor29 class includes the following member functions:

• 旋转 — 使电机沿指定方向旋转。

• 停止 — 停止电机。

• setVelocity — Tells the Motor 393 how fast to spin.

• setReversed — 设置电机的旋转方向是否反转。

Before calling any motor29 member functions, an instance must be created, as shown below:

/* This constructor is required when using VS Code.
Motor 393 configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create a Motor Controller 29 instance in 3-Wire Port A
motor29 Motor393_A = motor29(
    Brain.ThreeWirePort.A );

spin

Spins the Motor 393 in the specified direction forever.

可用功能

1 — 使用 当前配置的速度 旋转。

void spin(
 directionType dir );

2 — 以指定速度旋转。

void spin(
 directionType dir,
 double        velocity,
 velocityUnits units );

参数

范围	类型	描述
dir	directionType	The direction in which the motor spins: forward or reverse.
velocity	double	The velocity to spin with from 0% to 100% when using percent.
units	velocityUnits	The velocity unit: percent / pct — percent rpm — rotations per minute dps — degrees per second

返回值

此函数不返回值。

条笔记

• 该函数不等待，调用后项目将立即继续执行。

• The Motor 393 will continue spinning until stop is called or another spin is used.

stop

停止电机运转。

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。

setVelocity

Tells a Motor 393 how fast to spin. A higher percentage makes the Motor 393 spin faster and a lower percentage makes the Motor 393 spin slower.

Every project begins with each Motor 393 spinning at 50% velocity by default.

可用功能

void setVelocity(
    double velocity,
    percentUnits units );

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。

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 393’s direction is reversed: true — Reverses the Motor 393’s direction. false — Returns the Motor 393’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.