汽车集团

初始化 MotorGroup 类

使用以下构造函数创建 EXP MotorGroup 对象：

MotorGroup(motor1, motor2, …)

您可以创建具有任意数量电机的 MotorGroup。

# Create 2 Motors, motor_1 and motor_2 in
# Ports 1 and 2 respectively. 
motor_1 = Motor(Ports.PORT1)
motor_2 = Motor(Ports.PORT2)
# Using the two previously created Motors, create a
# MotorGroup named motor_group_1.
motor_group_1 = MotorGroup(motor_1, motor_2)

This motor_group_1 object will be used in all subsequent examples throughout this API documentation when referring to MotorGroup class methods.

类方法

spin()

The spin(direction, velocity, units) method is used to spin all Motors in a MotorGroup in the specified direction until a spin or stop command is used, or the project is stopped.

这是一个非等待功能，允许下一个命令无延迟运行。

参数	描述
方向	有效的 DirectionType。
速度	Optional. The velocity at which the Motors in the MotorGroup will spin. The default velocity set by the set_velocity() method will be used.
单位	Optional. A valid VelocityUnit or PERCENT. The default is RPM.

**返回：**无。

# Spin all Motors in motor_group_1 forward.
motor_group_1.spin(FORWARD)

spin_to_position()

The spin_to_position(rotation, units, velocity, units_v, wait) method is used to spin all Motors in a MotorGroup 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 set to True.

参数	描述
旋转	电机组中电机的旋转位置。
单位	Optional. A valid RotationUnit. The default is DEGREES.
速度	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the set_velocity() method will be used.
单位	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
等待	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.

**返回：**无。

# Spin the Motors in motor_group_1 to the position 90
# degrees at 100 RPM.
motor_group_1.spin_to_position(90, DEGREES, 100, RPM)

spin_for()

The spin_for(direction, value, units, velocity, units_v, wait) method is used to spin all Motors in a MotorGroup for a specific duration, rotations, or until a specific encoder value is reached. The position is relative to the current position of the Motors in the MotorGroup.

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

参数	描述
方向	有效的 DirectionType。
价值	MotorGroup 中电机旋转的值。
单位	Optional. A valid RotationUnit. The default is DEGREES.
速度	Optional. The velocity with which the Motors in a MotorGroup will spin. The default velocity set by the set_velocity() method will be used.
单位	Optional. A valid VelocityUnit or PERCENT. The default is RPM.
等待	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.

**返回：**无。

# Spin the Motors in motor_group_1 forward for 10 turns
# at 100% velocity.
motor_group_1.spin_for(FORWARD, 10, TURNS, 100, PERCENT)

stop()

The stop(mode) method is used to stop all Motors in a MotorGroup, setting them to 0 velocity and configuring the current stopping mode.

参数	描述
模式	Optional. A valid BrakeType. The default is COAST, unless previously changed using the set_stopping() method.

**返回：**无。

# Spin all Motors in motor_group_1 forward for 2.5 seconds.
motor_group_1.spin(FORWARD)

wait(2.5, SECONDS)

# Stop all Motos in motor_group_1 using the HOLD brake type.
motor_group_1.stop(HOLD)

count()

The count() method returns the number of Motors in the MotorGroup.

返回： MotorGroup 中的 Motors 数量。

set_velocity()

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

参数	描述
速度	为 MotorGroup 中的 Motors 设置的新速度。
单位	A valid VelocityUnit or PERCENT.

**返回：**无。

# Spin the Motors in motor_group_1 forward at 75% velocity.
motor_group_1.set_velocity(75, PERCENT)

motor_group_1.spin(FORWARD)

set_stopping()

The set_stopping(mode) method is used to set the stopping mode for all Motors in a MotorGroup.

参数	描述
模式	有效的 BrakeType。

**返回：**无。

reset_position()

The reset_position() method resets the position of all Motors in a MotorGroup to 0. The position that is returned by the position() method will be updated to 0.

**返回：**无。

set_position()

The set_position(value, units) method is used to set the position of all Motors in a MotorGroup. The position that is returned by the position() method will be updated to this new value.

参数	描述
价值	为 MotorGroup 中的所有 Motors 设置的新位置。
单位	有效的 RotationUnit。

**返回：**无。

set_timeout()

The set_timeout(value, units) method is used to set the timeout for all Motors in a MotorGroup. The position that is returned by the get_timeout() method will be updated to this new value.

参数	描述
价值	为 MotorGroup 中的所有 Motors 设置新的超时时间。
单位	Optional. A valid TimeUnit. The default is MSEC.

**返回：**无。

is_spinning()

The is_spinning() method returns the current status of the spin_to_position() or spin_for() methods. This function is used when False has been passed as the wait parameter in either command.

Returns: True if any Motor in the MotorGroup is still spinning. False if the Motors in the MotorGroup have completed the move or a timeout has occurred.

is_done()

The is_done() method returns the current status of the spin_to_position() or spin_for() method. This function is used when False has been passed as the wait parameter in either command.

Returns: True if any Motor in the MotorGroup is still spinning. False if the Motors in the MotorGroup have completed the move or a timeout has occurred.

set_max_torque()

The set_max_torque(value, units) method is used to set the maximum torque for all Motors in a MotorGroup. The torque can be set as torque units, current units, or a percent of maximum torque.

参数	描述
价值	MotorGroup 中所有电机的新最大扭矩。
单位	A valid TorqueUnit, AMP, or PERCENT.

**返回：**无。

direction()

The direction() method returns the current direction the first Motor in a MotorGroup is spinning.

**返回：**当前 DirectionType MotorGroup 中第一个电机正在旋转。

position()

The position(units) method returns the current position of the first Motor in a MotorGroup.

参数	描述
单位	Optional. A valid RotationUnit. The default is DEGREES.

返回： MotorGroup 中第一个 Motor 的当前位置（以指定的单位表示）。

velocity()

The velocity(units) method returns the current velocity of the first Motor in a MotorGroup.

参数	描述
单位	Optional. A valid VelocityUnit. The default is RPM.

返回： MotorGroup 中第一个 Motor 的当前速度（以指定单位表示）。

current()

The current(units) method returns the total current being used by the Motors in a MotorGroup.

参数	描述
单位	Optional. The only valid units for current are AMP or PERCENT.

返回： MotorGroup 中电机以指定单位所消耗的总电流。

power()

The power(units) method returns the power the first Motor in a MotorGroup is providing.

参数	描述
单位	Optional. The only valid units for power are WATT or PERCENT.

返回： MotorGroup 中第一个 Motor 以指定单位提供的功率。

torque()

The torque(units) method returns the torque the first Motor in a MotorGroup is providing.

参数	描述
单位	Optional. A valid TorqueUnit. The default is NM.

返回： MotorGroup 中第一个 Motor 以指定单位提供的扭矩。

efficiency()

The efficiency(units) method returns the efficiency of the first Motor in a MotorGroup.

参数	描述
单位	Optional. The only valid unit for efficiency is PERCENT.

返回： MotorGroup 中第一个 Motor 的效率百分比。

temperature()

The temperature(units) method returns the temperature of the first Motor in a MotorGroup.

参数	描述
单位	Optional. A valid TemperatureUnit. The default is CELSIUS.

返回： MotorGroup 中第一个 Motor 的指定单位的温度。