发动机

介绍

IQ 智能电机能够旋转、保持位置，并精确控制速度和扭矩。它可以单独使用，也可以作为电机组的一部分使用。

For the examples below, the configured motor will be named motor_1, and the configured motor group will be named motor_group_1. They will be used in all subsequent examples throughout this API documentation when referring to Motor and MotorGroup 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.

• spin_for – Spins a motor or motor group for a specified distance.

• spin_to_position – 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。

• set_velocity – Sets the default velocity for the motor or motor group.

• set_max_torque – Sets the maximum torque for a motor or motor group.

• set_position – Sets the motor or motor group’s position to a specific value.

• set_stopping – Sets the stop behavior (brake, coast, or hold).

• set_timeout – Limits how long a motor function waits before giving up if movement is blocked.

• set_reversed – Sets only a motor to have its direction be reversed.

• reset_position – Sets only a motor’s position to 0.

Getters – 从电机返回数据。

• 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.

• is_done – Returns whether a motor or motor group is currently not spinning.

• is_spinning – Returns whether a motor or motor group is currently spinning.

• 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.

• get_timeout – Returns only a motor’s current timeout duration.

构造函数——手动初始化和配置电机和电机组。

• Motor – Creates a motor.

• MotorGroup – Creates a motor group.

行动

spin

spin spins a motor or motor group in the specified direction indefinitely.

Usage:
motor_1.spin(direction, velocity, units)

参数	描述
direction	The direction in which to spin the motor or motor group: FORWARD REVERSE
velocity	可选。电机或电机组的旋转速度，以浮点数或整数表示。如果未指定速度，则默认速度为 50%。
units	Optional. The unit that represents the velocity: PERCENT RPM – Rotations per minute VelocityUnits.DPS – Degrees per second

# Spin the motor forward, then stop
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()

spin_for

spin_for spins a motor or motor group in a specified direction for a set distance relative to its current position.

Usage:
motor_1.spin_for(direction, angle, units, velocity, units_v, wait)

参数	描述
direction	The direction in which to spin the motor or motor group: FORWARD REVERSE
angle	电机或电机组旋转的度数，以浮点数或整数表示。
units	Optional. The unit that represents the rotational value: DEGREES (default) TURNS
velocity	可选。电机或电机组的旋转速度，以浮点数或整数表示。如果未指定速度，则默认速度为 50%。
units_v	Optional. The unit that represents the velocity: PERCENT RPM (default) – Rotations per minute
wait	Optional. wait=True (default) – The project waits until spin_for is complete before executing the next line of code. wait=False - The project starts the action and moves on to the next line of code right away, without waiting for spin_for to finish.

# Spin the motor forward, then put it 
# at 90 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(90, DEGREES)

# Spin the motor and different 
# velocities
# Using default velocity
motor_1.spin_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Spin slower
motor_1.spin_for(REVERSE, 150, MM, 20, PERCENT)
wait(1, SECONDS)
# Spin faster
motor_1.spin_for(FORWARD, 150, MM, 100, PERCENT)

spin_to_position

spin_to_position spins a motor and motor group to an absolute position.

Usage:
motor_1.spin_to_position(rotation, units, velocity, units_v, wait)

参数	描述
rotation	以浮点数或整数形式指定电机或电机组旋转的位置。
units	The unit that represents the rotational value: DEGREES TURNS
velocity	可选。电机或电机组的旋转速度，以浮点数或整数表示。如果未指定速度，则默认速度为 50%。
units_v	Optional. The unit that represents the velocity: PERCENT RPM – Rotations per minute VelocityUnits.DPS – Degrees per second
wait	Optional. wait=True (default) – The project waits until spin_to_position is complete before executing the next line of code. wait=False - The project starts the action and moves on to the next line of code right away, without waiting for spin_to_position to finish.

# Spin the motor forward, then 
# put it at 90 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(90, DEGREES)

# Spin forward then quickly reverse 
# to 0 degrees
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.spin_to_position(0, DEGREES, 100, PERCENT, wait=True)

stop

stop stops a motor or motor group.

Usage:
motor_1.stop(mode)

参数	描述
mode	Optional. How the motor or motor group will stop: COAST – Slows gradually to a stop. BRAKE (default) – Stops immediately. HOLD – Stops and resists movement using motor feedback.

# Spin the motor forward, then stop
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()

# Spin the motor and coast to a stop
motor_1.set_velocity(100, PERCENT)
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop(COAST)

修改器

set_velocity

set_velocity 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:
motor_1.set_velocity(velocity, units)

参数	描述
velocity	电机或电机组旋转的速度，以浮点数或整数表示。
units	Optional. The unit that represents the velocity: PERCENT RPM (Rotations per minute) VelocityUnits.DPS (Degrees per second)

# Spin the motor and 
# different velocities
# Using default velocity
motor_1.spin_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Spin slower
motor_1.set_velocity(20, PERCENT)
motor_1.spin_for(REVERSE, 150, MM)
wait(1, SECONDS)
# Spin faster
motor_1.set_velocity(100, PERCENT)
motor_1.spin_for(FORWARD, 150, MM)

set_max_torque

set_max_torque sets the maximum torque for a motor or motor group. The torque can be set as torque, current, or a percent of maximum torque.

Usage:
motor_1.set_max_torque(value, units)

参数	描述
value	电机或电机组的新最大扭矩，以浮点数或整数表示。
units	The unit that represents the torque: PERCENT TorqueUnits.NM (Newton Meters) TorqueUnits.INLB (Inch Pounds)

# Spin the motor at different 
# torque values
# Default
motor_1.spin_to_position(45, DEGREES)
# Spin at a lower torque
motor_1.set_max_torque(20, PERCENT)
motor_1.spin_to_position(0, DEGREES)
# Spin at te max torque
motor_1.set_max_torque(100, PERCENT)
motor_1.spin_to_position(45, DEGREES)

set_position

set_position sets the position of a motor or motor group.

Usage:
motor_1.set_position(position, units)

参数	描述
position	新位置为整数。
units	The unit that represents the rotational value: DEGREES TURNS

# Position the motor at the 
# new 0 degrees
motor_1.set_position(180, DEGREES)
motor_1.spin_to_position(0)

set_stopping

set_stopping sets the stopping mode for a motor or motor group.

Usage:
motor_1.set_stopping(mode)

参数	描述
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.

# Spin the motor and coast to a stop
motor_1.set_velocity(100, PERCENT)
motor_1.set_stopping(COAST)
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop()

set_timeout

set_timeout sets a time limit for how long a motor function will wait to reach its target. If the motor or motor group cannot complete the movement within the set time, it will stop automatically and continue with the next function.

**注意：**电机或电机组的时间限制用于防止未达到目标位置的电机功能停止项目其余部分的执行。

Usage:
motor_1.set_timeout(value, units)

参数	描述
value	运动功能在停止并移动到下一个功能之前运行的最大秒数（整数或浮点数）。
units	Optional. The unit that represents the time: SECONDS MSEC (default) – Milliseconds

# Spin the motor half a second and reset
motor_1.set_timeout(0.5, SECONDS)
motor_1.spin_for(FORWARD, 10, TURNS)
motor_1.spin_to_position(0)

set_reversed

set_reversed sets the motor to be reversed. This method works the same as setting the reverse parameter to True when constructing a Motor.

注意：此方法仅适用于电机，而不适用于电机组。

Usage:
motor_1.set_reversed(value)

参数	描述
value	Boolean value to set the direction reversed or not: True – Reverse the motor’s direction False – Return the motor’s direction to its default

# Change the reverse direction while spinning
motor_1.spin_for(FORWARD, 45)
motor_1.set_reversed(True)
motor_1.spin_for(FORWARD, 45)

reset_position

reset_position sets the motor or motor group’s position to 0.

Usage:
motor_1.reset_position()

参数	描述
	该方法没有参数。

# Reset the motor position after spinning
motor_1.spin(FORWARD)
wait(2, SECONDS)
motor_1.stop()
brain.screen.print(motor_1.position())
brain.screen.next_row()
wait(1, SECONDS)
motor_1.reset_position()
brain.screen.print(motor_1.position())

吸气剂

position

position returns the current position of a motor or motor group as an integer or as a float.

Usage:
motor_1.position(units)

参数	描述
units	Optional. The unit that represents the rotational value: DEGREES (default) TURNS

# Spin the motor and display the 
# ending position
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()
brain.screen.print(motor_1.position())

velocity

velocity returns the current velocity of a motor or motor group as an integer or as a float.

Usage:
motor_1.velocity(units)

参数	描述
units	Optional. The unit that represents the velocity: PERCENT RPM (default) – Rotations per minute VelocityUnits.DPS (Degrees per second)

# Display the motor's velocity before 
# and after spinning
brain.screen.print(motor_1.velocity())
brain.screen.next_row()
motor_1.spin(FORWARD)
wait(1, SECONDS)
brain.screen.print(motor_1.velocity())
motor_1.stop()

current

current returns the current of the motor or motor group in amps.

Usage:
motor_1.current(units)

参数	描述
units	Optional. The unit that represents the current: CurrentUnits.AMP – Amps

# Example coming soon

is_done

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

• True – The motor or motor group is not spinning.

• False – The motor or motor group is spinning.

Usage:
motor_1.is_done()

参数	描述
	该方法没有参数。

# Drive forward while the motor 
# is spinning
motor_1.spin_for(FORWARD, 200, DEGREES, wait=False)
while True:
    if motor_1.is_done():
        drivetrain.stop()
    else:
        drivetrain.drive(FORWARD)

is_spinning

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

• True – The motor or motor group is spinning.

• False – The motor or motor group is not spinning.

Usage:
motor_1.is_spinning()

参数	描述
	该方法没有参数。

# Drive forward while the motor 
# is spinning
motor_1.spin_for(FORWARD, 200, DEGREES, wait=False)
while motor_1.is_spinning():
    drivetrain.drive(FORWARD)
drivetrain.stop()

direction

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

• FORWARD

• REVERSE

Usage:
motor_1.direction()

参数	描述
	该方法没有参数。

# Spin the motor and print the spin direction
motor_1.set_position(50, DEGREES)
motor_1.spin_to_position(0, DEGREES)
if motor_1.direction() == DirectionType.FORWARD:
    brain.screen.print('FORWARD')
elif motor_1.direction() == DirectionType.REVERSE:
    brain.screen.print('REVERSE')
else:
    brain.screen.print("Not Spinning.")

power

power returns the current power of the motor in watts.

Usage:
motor_1.power()

参数	描述
	该方法没有参数。

# Example coming soon

torque

torque returns the current torque of the motor.

Usage:
motor_1.torque(units)

参数	描述
units	The unit that represents the torque: TorqueUnits.NM (default) – Newton meters TorqueUnits.INLB – Inch pounds

# Example coming soon

efficiency

efficiency returns the current efficiency of the motor in percent.

Usage:
motor_1.efficiency()

参数	描述
	该方法没有参数。

# Example coming soon

temperature

temperature returns the current temperature of the motor.

Usage:
motor_1.temperature(units)

参数	描述
units	Optional. The units that represent the temperature: TemperatureUnits.CELSIUS (default) TemperatureUnits.FAHRENHEIT

# Example coming soon

count

count returns the number of motors in a motor group as an integer.

注意：此方法仅适用于电机组，而不适用于电机。

Usage:
motor_group_1.count()

参数	描述
	该方法没有参数。

# Display the amount of motors in the group
brain.screen.print(motor_group_1.count())

get_timeout

get_timeout returns the current timeout for a motor in milliseconds.

注意：此方法仅适用于电机，而不适用于电机组。

Usage:
motor_1.get_timeout()

参数	描述
	该方法没有参数。

# Spin the motor half a second and reset, then display the timeout
motor_1.set_timeout(0.5, SECONDS)
motor_1.spin_for(FORWARD, 10, TURNS)
motor_1.spin_to_position(0)
brain.screen.print(motor_1.get_timeout())

构造函数

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

Motor

Motor creates a motor.

Usage:
motor_1 = Motor(port, gears, reverse)

范围	描述
port	Which Smart Port that the motor is connected to as Ports.PORT followed by the port number, ranging from 1 to 12.
gears	Optional. The motor’s gear ratio: GearSetting.RATIO_1_1 (default) – 1:1 Ration GearSetting.RATIO_2_1 – 2:1 Ratio GearSetting.RATIO_3_1 – 3:1 Ratio
reverse	Optional. Sets whether the motor’s spin should be reversed. True – Motor is reversed False (default) – Motor is not reversed

# Construct a Motor object named motor_1 in Port 1 on 
# the IQ (2nd gen) Brain which has the reverse flag set to True
motor_1 = Motor(Ports.PORT1, 1.0, True)

# Spin the motor forward for some time
motor_1.spin(FORWARD)
wait(1, SECONDS)
motor_1.stop()

Motor Group

MotorGroup creates a motor group.

Usage:
motor_group_1 = MotorGroup(motors)

范围	描述
motors	The names of previously created Motor objects to be put in the motor group. Up to 12 Motor objects can be added to the group.

# Construct a motor group with 2 motors
motor_group_1_motor_a = Motor(Ports.PORT1, False)
motor_group_1_motor_b = Motor(Ports.PORT6, True)
motor_group_1 = MotorGroup(motor_group_1_motor_a, motor_group_1_motor_b)

# Spin the motor forward, then stop
motor_group_1.spin(FORWARD)
wait(1, SECONDS)
motor_group_1.stop()