发动机#

介绍 #

VEX IQ（第二代）运动类别提供了与电机和电机组交互的方法。

For the examples below, the configured motor will be named Motor1, and the configured motor group will be named MotorGroup1. They will be used in all subsequent examples throughout this API documentation when referring to motor and motor_group class methods.

以下是所有方法的列表：

动作——控制电机的运动。

spin – Spins a motor or motor group in a specified direction indefinitely.
spinFor – Spins a motor or motor group for a specified distance.
spinToPosition – Spins a motor to an absolute position.
stop – Stops a motor or motor group with configurable behavior.

改变器——改变电机的不同属性。

setVelocity – Sets the default velocity for the motor or motor group.
setMaxTorque – Sets the maximum torque for a motor or motor group.
setPosition – Sets the motor or motor group’s position to a specific value.
setStopping – Sets the stop behavior (brake, coast, or hold).
setTimeout – Limits how long a motor function waits before giving up if movement is blocked.
setReversed – Sets only a motor to have its direction be reversed.
resetPosition – Sets only a motor’s position to 0.

Getters – 从电机返回数据。

isDone – Returns whether a motor or motor group is currently not spinning.
isSpinning – Returns whether a motor or motor group is currently spinning.
position – Returns a motor or motor group’s current position.
velocity/ – Returns a motor or motor group’s current velocity.


current – Returns the current being used by a motor or motor group.
direction – Returns the spin direction of a motor or motor group.
power – Returns the amount of power being used by a motor or motor group.
torque – Returns the torque generated by a motor or motor group.
efficiency – Returns the efficiency of a motor or motor group.
temperature – Returns the temperature of a motor or motor group.
count – Returns the amount of motors in a motor group.


Constructors – Manually initialize and configure motors and motor groups.

motor – Creates a motor.
motor_group – Creates a motor group.



Actions#

spin#
spin spins a motor or motor group in the specified direction indefinitely.
Default Usage:

Motor1.spin(direction);
Overload Usages:

Motor1.spin(direction, velocity, velocityUnits);

Motor1.spin(direction, voltage, voltageUnits);


Parameters
Description



direction
The direction in which to spin the motor or motor group: 
forward
reverse


velocity
The velocity that the motor or motor group will spin at as a double.

velocityUnits
The unit that will represent the velocity: 
percent 
dps – degrees per second 
rpm – rotations per minute 


voltage
The voltage that the motor will spin with.

voltageUnits
The unit that will represent the voltage: 
voltageUnits::volt – volts 
voltageUnits::mV – millivolts 





// Example coming soon





spinFor#
spinFor spins a Motor or Motor Group for a set amount in a specified direction.
Default Usage:

Motor1.spinFor(direction, rotation, units, wait);
Overload Usages:

Motor1.spinFor(rotation, units, velocity, units_v, wait);

Motor1.spinFor(direction, rotation, units, velocity, units_v, wait);

Motor1.spinFor(rotation, units, wait);

Motor1.spinFor(time, units_t, velocity, units_v);

Motor1.spinFor(direction, time, units_t, velocity, units_v);

Motor1.spinFor(time, units_t);

Motor1.spinFor(direction, time, units_t);


Parameters
Description



direction
The direction in which to spin the motor or motor group: 
forward
reverse


rotation
How far the motor will rotate.

units
The unit that will represent the rotation: 
degrees 
turns 


wait
Optional. 
true (default) – The robot waits until spinFor is complete before executing the next line of code. 
false – The robot starts the action and moves on to the next line of code right away, without waiting for spinFor to finish.

velocity
The velocity that the motor or motor group will spin at as a double.

units_v
The unit that will represent the velocity: 
dps – degrees per second 
rpm – rotations per minute 
velocityUnits::pct – percent 


time
The amount of time the motor will spin for. wait cannot be used when using the time parameter.

units_t
The unit that represents the time: 
seconds 
msec – milliseconds 





// Example coming soon





spinToPosition#
spinToPosition spins the motor or motor group to a specified position.
Default Usage:

Motor1.spinToPosition(position, units, wait);
Overload Usages:

Motor1.spinToPosition(position, positionUnits, velocity, velocityUnits, wait);


Parameters
Description



position
The position that the motor ot motor group will spin to.

units
The unit that will represent the position: 
degrees 
turns 


wait
Optional. 
true (default) – The robot waits until spinToPosition is complete before executing the next line of code. 
false – The robot starts the action and moves on to the next line of code right away, without waiting for spinToPosition to finish.

velocity
The velocity that the motor or motor group will spin at as a double.

velocityUnits
The unit that will represent the velocity: 
dps – degrees per second 
rpm – rotations per minute 
velocityUnits::pct – percent 





// Example coming soon





stop#
stop stops the motor or motor group from spinning.
Default Usage:

Motor1.stop();
Overload Usages:

Motor1.stop(mode);


Parameters
Description



mode
How the motor or motor group will stop: 
brake – Stops immediately.
coast – Slows gradually to a stop.
hold – Stops and resists movement using motor feedback.





// Example coming soon






Mutators#

setVelocity#
setVelocity sets the default velocity for a motor or motor group. This velocity setting will be used for subsequent calls to any motor functions if a specific velocity is not provided.
Usage:

Motor1.setVelocity(velocity, units);


Parameters
Description



velocity
The velocity the motor or motor group will spin at as a double.

units
The unit that represents the velocity: 
percent 
rpm – rotations per minute 
dps – degrees per second. 





// Example coming soon





setMaxTorque#
setMaxTorque sets the maximum torque that a motor or motor group can spin at.
Usage:

Motor1.setMaxTorque(value, units);


Parameters
Description



value
The maximum torque the motor or motor group can spin at.

units
The unit that represents the torque: 
percent 
Nm – Newton meters. 
InLb – inch pounds. 
amp – amps. 





// Example coming soon





setPosition#
setPosition sets a specific position value to a motor or motor group, which updates the encoder reading.
Usage:

Motor1.setPosition(position, units);


Parameters
Description



position
The position that the specified motor or motor group will spin to.

units
The unit that will represent the rotation: 
degrees 
turns 





// Example coming soon





setStopping#
setStopping sets how a motor or motor group behaves when it stops.
Usage:

Motor1.setStopping(mode);


Parameters
Description



mode
How the motor or motor group will stop: 
brake – Stops immediately.
coast – Slows gradually to a stop.
hold – Stops and resists movement using motor feedback.





// Example coming soon





setTimeout#
setTimeout sets a time limit for how long a motor command will wait to reach its target. If the robot cannot complete the movement within the set time, it will stop automatically and continue with the next command.
Note: The motor’s time limit is used to prevent motor commands that do not reach their target position from stopping the execution of other blocks in the stack.
Usage:

Motor1.setTimeout(time, units);


Parameters
Description



time
The maximum number of seconds a motor command will run before stopping and moving to the next command.

units
The unit that represents the timeout: 
seconds 
msec – milliseconds 





// Example coming soon





setReversed#
setReversed sets the motor to be reversed. This method works the same as setting the reverse parameter to true when constructing a motor.
Usage:

Motor1.setReversed(reversed);


Parameters
Description



reversed
A Boolean representing whether or not the motor is reversed: 
true – Reverse the motor direction. 
false – Return to the motor’s default configuration. 





// Example coming soon





resetPosition#
resetPosition sets the motor or motor group’s position to 0.
Usage:

Motor1.resetPosition();


Parameters
Description




This method has no parameters.




// Example coming soon






Getters#

isDone#
isDone returns a Boolean indicating whether a motor or motor group is not currently spinning.

1 – The motor or motor group is done spinning.
0 – The motor or motor group is still spinning.

Usage:

Motor1.isDone()


Parameters
Description




This method has no parameters.




// Example coming soon





isSpinning#
isSpinning returns a Boolean indicating whether a motor or motor group is currently spinning.

1 – The motor or motor group is spinning.
0 – The motor or motor group is not spinning.

Usage:

Motor1.isSpinning()


Parameters
Description




This method has no parameters.




// Example coming soon





position#
position returns the current position of a motor or motor group as a double.
Usage:

Motor1.position(units)


Parameters
Description



units
The unit that will represent the position: 
degrees 
turns 





// Example coming soon





velocity#
velocity returns the current velocity of a motor or motor group as a double.
Usage:

Motor1.velocity(units)


Parameters
Description



units
The unit that will represent the velocity: 
percent 
rpm – rotations per minute 
dps – degrees per second 





// Example coming soon





current#
current returns the current of a motor or motor group as a double.
Usage:

Motor1.current(units)


Parameters
Description



units
The unit that represents the current: 
amp – amps. 
percent 





// Example coming soon





direction#
direction returns the current direction a motor or motor group is spinning in.

forward
reverse

Usage:

Motor1.direction()


Parameters
Description




This method has no parameters.




// Example coming soon





power#
power returns the current power of the motor.
Usage:

Motor1.power(units)


Parameters
Description



units
The unit that represents the power: 
watt 





// Example coming soon





torque#
torque returns the current torque of the motor.
Usage:

Motor1.torque(units)


Parameters
Description



units
The unit that represents the torque: 
Nm – Newton meters. 
InLb – inch pounds. 
amp – amps. 





// Example coming soon





efficiency#
efficiency returns the efficiency of the motor in percent.
Usage:

Motor1.efficiency()


Parameters
Description




This method has no parameters.




// Example coming soon





temperature#
temperature returns the current temperature of the motor in percent.
Usage:

Motor1.temperature(units)


Parameters
Description



units
The unit that represents the temperature: 
celsius 
fahrenheit 





// Example coming soon





count#
count returns the number of motors in a motor group as an integer. This method will not work with individual Motors.
Usage:

MotorGroup1.count()


Parameters
Description




This method has no parameters.




// Example coming soon






Constructors#
Constructors are used to manually create motor and motor_group objects, which are necessary for configuring a motor or motor group outside of VEXcode.

motor#
motor creates an object of the motor Class in the specified port.
Default Usage:

motor Motor1 = motor(port);
Overload Usages:

motor Motor1 = motor(port, reverse);
motor Motor1 = motor(port, gearRatio);
motor Motor1 = motor(port, gearRatio, reverse);


Parameters
Description



port
Which Smart Port that the Motor is connected to as PORT followed by the port number, ranging from 1 to 12.

reverse
A Boolean indicating whether or not the Motor’s directions are configured in reverse: 
true – The Motor is reversed. 
false – The Motor is not reversed. 


gearRatio
The gear ratio of the Motor as a double.




// Example coming soon





motor_group#
motor_group creates an object of the motor_group Class in the specified port. A motor_group is a collection of individual motor objects.
Usage:

motor_group MotorGroup1 = motor_group(motor1, motor2);


Parameters
Description



motor
The configured motor to add to the motor_group. Up to 12 motor objects can be added to the group.




// Example coming soon

Parameters	Description
`direction`	The direction in which to spin the motor or motor group: `forward` `reverse`
`velocity`	The velocity that the motor or motor group will spin at as a double.
`velocityUnits`	The unit that will represent the velocity: `percent` `dps` – degrees per second `rpm` – rotations per minute
`voltage`	The voltage that the motor will spin with.
`voltageUnits`	The unit that will represent the voltage: `voltageUnits::volt` – volts `voltageUnits::mV` – millivolts

Parameters	Description
`direction`	The direction in which to spin the motor or motor group: `forward` `reverse`
`rotation`	How far the motor will rotate.
`units`	The unit that will represent the rotation: `degrees` `turns`
`wait`	Optional. `true` (default) – The robot waits until `spinFor` is complete before executing the next line of code. `false` – The robot starts the action and moves on to the next line of code right away, without waiting for `spinFor` to finish.
`velocity`	The velocity that the motor or motor group will spin at as a double.
`units_v`	The unit that will represent the velocity: `dps` – degrees per second `rpm` – rotations per minute `velocityUnits::pct` – percent
`time`	The amount of time the motor will spin for. `wait` cannot be used when using the `time` parameter.
`units_t`	The unit that represents the time: `seconds` `msec` – milliseconds

Parameters	Description
`position`	The position that the motor ot motor group will spin to.
`units`	The unit that will represent the position: `degrees` `turns`
`wait`	Optional. `true` (default) – The robot waits until `spinToPosition` is complete before executing the next line of code. `false` – The robot starts the action and moves on to the next line of code right away, without waiting for `spinToPosition` to finish.
`velocity`	The velocity that the motor or motor group will spin at as a double.
`velocityUnits`	The unit that will represent the velocity: `dps` – degrees per second `rpm` – rotations per minute `velocityUnits::pct` – percent

发动机#

介绍 #

Actions #

spin #

spinFor #

spinToPosition #

stop #

Mutators #

setVelocity #

setMaxTorque #

setPosition #

setStopping #

setTimeout #

setReversed #

resetPosition #

Getters #

isDone #

isSpinning #

position #

velocity #

current #

direction #

power #

torque #

efficiency #

temperature #

count #

Constructors #

motor #

motor_group #