发动机#

初始化电机类 #

使用以下构造函数之一创建 IQ Motor 对象：

This motor constructor creates a motor object with gears defaulting to 1.0.

范围	描述
`index`	电机连接到 IQ (1st gen) Brain 上的端口。
`reverse`	A boolean value to reverse the direction the Motor spins forward in. The default is `false`.

// Construct a Motor connected to Port 1 which runs 
// in reverse.
motor Motor1 = motor(PORT1, true);

This motor constructor creates a motor object with reverse defaulting to false.

范围	描述
`index`	电机连接到 IQ (1st gen) Brain 上的端口。
`gears`	The `gearSetting` or gear ratio of the motor.

// Construct a Motor connected to Port 1 with a 1.0
// gear setting.
motor Motor1 = motor(PORT1, 1);

This motor constructor creates a motor object with no default parameter values.

范围	描述
`index`	电机连接到 IQ (1st gen) Brain 上的端口。
`gears`	The `gearSetting` or gear ratio of the motor.
`reverse`	用于反转电机向前旋转的方向的布尔值。

// Construct an IQ Motor with a 1.0 gear setting
// that runs in reverse.
motor Motor1 = motor(PORT1, 1, true);

This Motor1 object will be used in all subsequent examples throughout this API documentation when referring to motor class methods.

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

参数	描述
`dir`	A valid `directionType`.

**返回：**无。

// Spin Motor1 forward.
Motor1.spin(forward);

The spin(dir, velocity, units) method is used to spin a Motor in the specified direction forever at a specified velocity until a spin or stop method 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 Motor1 forward at 100 rpm.
Motor1.spin(forward, 100, rpm);

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

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

**返回：**无。

// Spin Motor1 forward at 100 millivolts.
Motor1.spin(forward, 100,::mV);

spinToPosition()#

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

该方法通过以下方式调用：

The spinToPosition(rotation, units, waitForCompletion) method is used to spin a Motor 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 method will block subsequent methods (`wait=true`) or allow immediate execution (`wait=false`). If unspecified, the default for the `wait` parameter is `wait=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin Motor1 to the absolute position 1080 degrees.
Motor1.spinToPosition(1080, degrees);

The spinToPosition(rotation, units, velocity, units_v, waitForCompletion) method is used to spin a Motor 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 method will block subsequent methods (`wait=true`) or allow immediate execution (`wait=false`). If unspecified, the default for the `wait` parameter is `wait=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin Motor1 to the absolute position 1080 degrees 
// at 100 percent velocity.
Motor1.spinToPosition(1080, degrees, 100,::pct);

spinFor()#

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

该方法通过以下方式调用：

The spinFor(time, units) method is used to spin the Motor 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 Motor1 for 10 seconds
Motor1.spinFor(10, seconds);

The spinFor(dir, time, units) method is used to spin the Motor 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`.

// Spin Motor1 forward for 10 seconds
Motor1.spinFor(forward, 10, seconds);

The spinFor(time, units, velocity, units_v) method is used to spin the Motor 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`.

// Spin Motor1 for 10 seconds at 100 rpm.
Motor1.spinFor(10, seconds, 100, rpm);

The spinFor(dir, time, units, velocity, units_v) method is used to spin the Motor 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 Motor1 forward for 10 seconds at 100 rpm.
Motor1.spinFor(forward, 10, seconds, 100, rpm);

The spinFor(rotation, units, waitForCompletion) method is used to spin the Motor 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 method will block subsequent methods (`wait=true`) or allow immediate execution (`wait=false`). If unspecified, the default for the `wait` parameter is `wait=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin Motor1 for 1000 degrees.
Motor1.spinFor(1000, degrees);

The spinFor(dir, rotation, units, waitForCompletion) method is used to spin the Motor 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 method will block subsequent methods (`wait=true`) or allow immediate execution (`wait=false`). If unspecified, the default for the `wait` parameter is `wait=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin Motor1 forward for 1000 degrees.
Motor1.spinFor(forward, 1000, degrees);

The spinFor(rotation, units, velocity, units_v, waitForCompletion) method is used to spin the Motor 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 method will block subsequent methods (`wait=true`) or allow immediate execution (`wait=false`). If unspecified, the default for the `wait` parameter is `wait=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin Motor1 for 1000 degrees at 25 rpm.
Motor1.spinFor(1000, degrees, 25, rpm);

The spinFor(dir, rotation, units, velocity, units_v, waitForCompletion) method is used to spin the Motor 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 method will block subsequent methods (`wait=true`) or allow immediate execution (`wait=false`). If unspecified, the default for the `wait` parameter is `wait=true`.

**返回：**一个布尔值，表示电机何时达到目标旋转。

// Spin Motor1 forard for 1000 degrees at 25 rpm.
Motor1.spinFor(forward, 1000, degrees, 25, rpm);

stop()#

这是一种非等待方法，允许下一个方法无延迟运行。

该方法通过以下方式调用：

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

**返回：**无。

// Spin Motor1 for 2.5 seconds.
Motor1.spin(forward);

wait(2.5 seconds);

// Stop Motor1.
Motor1.stop();

The stop(mode) method is used to stop a Motor using a specific Brake Type.

参数	描述
`mode`	A valid `brakeType`.

**返回：**无。

// Spin Motor1 for 2.5 seconds.
Motor1.spin(forward);

wait(2.5 seconds);

// Stop Motor1 using the hold Brake Type.
Motor1.stop(hold);

setVelocity()#

The setVelocity(velocity, units) method is used to set the default velocity for a Motor. 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。

setReversed()#

The setReversed(value) method sets the Motor direction to be reversed. Constructing a Motor with the reverse parameter set to true has the same result as Motor1.setReversed(true)

参数	描述
`value`	用于设置电机方向是否反转的布尔值。

**返回：**无。

setStopping()#

The setStopping(mode) method is used to set the stopping mode for a Motor. This will be the stopping mode used when the stop() method is called.

参数	描述
`mode`	A valid `brakeType`.

**返回：**无。

resetPosition()#

The resetPosition() method resets the Motor’s encoder value to 0.

**返回：**无。

setPosition()#

The setPosition(value, units) method is used to set the value of a Motor’s encoder to a specific value. The position that is returned by the position() method will be updated to this new value.

参数	描述
`value`	为电机编码器设置的新位置。
`units`	A valid `rotationUnit`.

**返回：**无。

setTimeout()#

The Motor.setTimeout(value, units) method is used to set the timeout for motor methods. If a Motor does not reach its’ methoded position prior to the completion of the timeout, the Motor will stop.

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

**返回：**无。

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.
Motor1.set_max_torque(2, Nm);

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

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.
Motor1.set_max_torque(.05, amp);

The setMaxTorque(value, units) method 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.
Motor1.set_max_torque(75, percent);

direction()#

The direction() method returns the current direction the Motor is spinning in as a directionType.

Returns: A directionType value representing current direction that the Motor is spinning in.

position()#

The position(units) method returns the current rotation of the Motor.

参数	描述
`units`	A valid `rotationUnit`.

**返回：**以指定单位表示电机当前旋转的双精度值。

velocity()#

The velocity(units) method returns the current velocity of the Motor.

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

**返回：**以指定单位表示电机当前速度的双精度数。

current()#

The current(units) method returns the current being used by the Motor.

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

返回： 以指定单位表示电机所吸收的电流的双精度值。

voltage()#

The voltage(units) method returns the voltage being used by the Motor.

参数	描述
`units`	The only valid unit for voltage is `volt`.

**返回：**表示电机电压的双精度数。

power()#

The power(units) method returns the power being consumed by the Motor.

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

**返回：**以指定单位表示电机当前功率的双精度值。

torque()#

The torque(units) method returns the torque of the Motor.

参数	描述
`units`	A valid `torqueUnit`.

**返回：**指定单位的电机扭矩。

efficiency()#

The efficiency(units) method returns the efficiency of the Motor.

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

**返回：**电机效率的百分比。

temperature()#

The temperature(units) method returns the efficiency of the Motor.

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

**返回：**电机的温度。

installed()#

The installed() method returns if the Motor is connected to the IQ (1st gen) Brain.

Returns: true if the Motor is connected to the IQ (1st gen) Brain. false if it is not.

发动机#

初始化电机类 #

类方法 #

spin()#

spinToPosition()#

spinFor()#

stop()#

setVelocity()#

setReversed()#

setStopping()#

resetPosition()#

setPosition()#

setTimeout()#

isSpinning()#

isDone()#

setMaxTorque()#

direction()#

position()#

velocity()#

current()#

voltage()#

power()#

torque()#

efficiency()#

temperature()#

installed()#