Motor Controller 55

The motor55 class is used to control a VEX Motor Controller 55 connected to the V5 Brain. The Motor Controller 55 is a legacy motor controller designed to operate 2-wire DC motors.

Class Constructors

1 — Creates a motor55 object on the specified Smart Port.

motor55( 
  int32_t index );

2 — Creates a motor55 object on the specified Smart Port and changes the positive turning direction.

motor55( 
  int32_t index,
  bool    reverse );

3 — Creates a motor55 object on the specified Smart Port, sets the maximum drive voltage, and changes the positive turning direction.

motor55( 
  int32_t index,
  double  maxv,
  bool    reverse );

Class Destructor

Destroys the motor55 object and releases associated resources.

~motor55();

Parameters

Parameter	Type	Description
index	int32_t	The Smart Port that the Motor Controller 55 is connected to, written as PORTx, where x is the port number (for example, PORT1).
reverse	bool	Determines whether the motor’s direction is reversed: true — The motor’s positive direction is reversed. false — The motor’s positive direction remains normal.
maxv	double	The maximum voltage that the Motor Controller 55 can apply to the motor.

Example

// Create the motor55 instance in Smart Port 1
motor55 Motor1 = motor55(PORT1);

Member Functions

The motor55 class includes the following member functions:

• spin — Spins the motor in a specified direction.

• stop — Stops the motor.

• setVelocity — Sets the default motor velocity.

• setStopping — Sets the stopping behavior (coast or brake).

• setReversed — Sets whether the motor’s direction is reversed.

• current — Returns the motor’s electrical current.

• voltage — Returns the motor’s electrical voltage.

• temperature — Returns the motor temperature.

• getMotorType — Returns the detected motor/controller type.

• installed — Returns whether the Motor Controller 55 is detected on the specified Smart Port.

Before calling any motor55 member functions, an instance must be created, as shown below:

/* This constructor is required when using VS Code.
Motor Controller 55 configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the motor55 instance in Smart Port 1
motor55 MC55_1 = motor55(PORT1);

spin

Spins the motor in the specified direction indefinitely.

Available Functions

1 — Spins using the currently configured velocity.

void spin( 
  directionType dir );

2 — Spins at the specified voltage.

void spin( 
  directionType dir,
  double        voltage,
  voltageUnits  units );

Parameters

Parameter	Type	Description
dir	directionType	The direction in which the motor spins: forward reverse
voltage	double	The voltage value applied to the motor.
units	voltageUnits	The unit used to represent voltage: volt — volts voltageUnits::mV — millivolts

Return Values

This function does not return a value.

Notes

• This function is non-waiting and the program continues immediately after the call.

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

stop

Stops the motor from spinning using the currently configured brake mode.

Available Functions

void stop();

Parameters

This function does not take any parameters.

Return Values

This function does not return a value.

Notes

• Stops the motor using the currently configured stopping mode set by setStopping.

setVelocity

Sets the default velocity for a motor. This velocity setting will be used for subsequent calls to any Motor Controller 55 functions if a specific velocity is not provided.

Available Functions

void setVelocity(
    double       velocity,
    percentUnits units = percent );

Parameters

Parameter	Type	Description
velocity	double	The velocity value to apply to the motor.
units	percentUnits	The unit used to represent velocity: percent / pct — percent of maximum output

Return Values

This function does not return a value.

Notes

• Any subsequent call to spin without a specified voltage will use this value.

setStopping

Sets how a motor behaves when it stops.

Available Functions

void setStopping(
    brakeType mode );

Parameters

Parameter	Type	Description
mode	brakeType	The stopping mode applied when stop is called: coast — Motor coasts to a stop brake — Motor stops quickly using braking

Return Values

This function does not return a value.

Notes

• Any subsequent call to stop will use this stopping mode.

• The Motor Controller 55 supports coast and brake only. hold is not supported.

setReversed

Sets whether the motor’s rotation direction is reversed.

Available Functions

void setReversed(
    bool value );

Parameters

Parameter	Type	Description
value	bool	Sets the motor’s direction behavior: true — The motor’s positive direction is reversed. false — The motor’s positive direction remains normal.

Return Values

This function does not return a value.

Notes

• Calling setReversed is the same as changing the reverse parameter in the constructor.

current

Returns the current of a motor.

Available Functions

1 — Returns the motor’s electrical current in amps.

double current( 
  currentUnits units = amp );

2 — Returns the motor’s electrical current as a percentage of maximum rated current.

double current( 
  percentUnits units );

Parameters

Parameter	Type	Description
units	currentUnits	The unit used to represent current: amp (default) — amperes
units	percentUnits	Represents the current as percentage of the motor’s maximum rated current: percent / pct — percent

Return Values

Returns a double representing the motor’s electrical current in the specified units.

voltage

Returns the electrical voltage supplied to the motor.

Available Functions

double voltage( 
  voltageUnits units = volt );

Parameters

Parameter	Type	Description
units	voltageUnits	The unit to represent the voltage: volt (default) voltageUnits::mV — millivolts

Return Values

Returns a double representing the motor’s electrical voltage in the specified units.

temperature

Returns the temperature of the motor.

Available Functions

1 — Returns motor temperature as a percentage of maximum operating temperature.

double temperature( 
  percentUnits units = percent );

2 — Returns motor temperature in physical temperature units.

double temperature( 
  temperatureUnits units );

Parameters

Parameter	Type	Description
units	percentUnits	The unit used to represent motor or motor group temperature as a percentage: percent / pct (default) — percent
units	temperatureUnits	The unit used to represent motor or motor group temperature in degrees: celsius — degrees Celsius fahrenheit — degrees Fahrenheit

Return Values

Returns a double representing the motor’s or motor group’s temperature in the specified units.

Notes

• The operating temperature range for the motor is approximately 20°C (68°F) to 70°C (158°F).

getMotorType

Returns the detected motor/controller type.

Available Functions

int32_t getMotorType();

Parameters

This function does not take any parameters.

Return Values

Returns an int32_t indicating the detected motor/controller type:

• 0 — 11W Motor
• 1 — 5.5W Motor
• 2 — Motor Controller 55

installed

Returns whether the Motor Controller 55 is connected to the V5 Brain.

Available Functions

bool installed();

Parameters

This function does not take any parameters.

Return Values

Returns a bool indicating if the Motor Controller 55 is connected.

• true — The Motor Controller 55 is connected.
• false — The Motor Controller 55 is not connected.