汽车和汽车集团

介绍

电机和电机组方法允许您控制和监控 V5 机器人上的单个电机或电机组。这些方法可以控制电机旋转、停止或移动到特定位置，并报告其速度、扭矩、功率和温度。

This page uses motor_1 and motor_group_1 as the example motor and motor group name respectively. Replace them with your own configured names as needed.

以下是可用方法列表：

操作 – 控制电机的运动。

• spin – Rotates the selected motor or motor group indefinitely.

• spin_for – Rotates a motor or motor group for a specific distance in degrees or turns.

• spin_to_position – Rotates a motor or motor group to a set position.

• stop – Stops a specific motor or motor group from spinning.

变异器——改变马达的属性。

• set_position – Sets the position (encoder value) of a motor or motor group.

• set_velocity – Sets the speed of a motor or motor group as a percentage.

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

• set_max_torque – Limits the maximum torque the motor or motor group can apply.

• set_timeout – Limits how long a motor or motor group 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 – 返回来自电机的数据。

• is_done – Returns a Boolean indicating whether the motor or motor group is no longer spinning.

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

• position – Returns the motor’s or motor group’s current rotational position in degrees or turns.

• velocity – Returns the motor’s or motor group’s current velocity in % or rpm.

• current – Returns the current drawn by the motor or motor group.

• power – Returns the amount of electrical power the motor or motor group is consuming.

• torque – Returns the amount of torque currently being applied by the motor or motor group.

• efficiency – Returns the current efficiency of the motor or motor group.

• temperature – Returns the current temperature of the 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 – 手动初始化电机或电机组。

• Motor – Creates a single motor.

• MotorGroup – Creates a motor group.

行动

spin

spin rotates a selected motor or motor group in a specified direction using the current motor velocity.

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

参数	描述
direction	The direction in which to spin the motor or motor group: FORWARD – By default, this is counterclockwise REVERSE – By default, this is clockwise
velocity	Optional. The velocity at which the motor or motor group will spin as a float or integer. If the velocity is not specified or previously set, the default velocity is 50%. If VOLT is used in units, this will accept a range from -12.0 to 12.0 where a negative value will spin opposite to the given direction.
units	Optional. The unit that represents the velocity: PERCENT RPM (default) – Rotations per minute VelocityUnits.DPS – Degrees per second VOLT – Will spin the motor or motor group at a specified voltage.

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

spin_for

spin_for rotates a motor or motor group for a specific amount of rotation using the current motor velocity, measured in degrees or turns.

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角度（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。如果未指定速度或先前设置为，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 once, then reset
motor_1.spin_for(FORWARD, 90, DEGREES)
wait (1, SECONDS)
motor_1.spin_for(REVERSE, 90, DEGREES)

spin_to_position

spin_to_position rotates a motor or motor group to a specific absolute position using the current motor velocity and motor position.

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

参数	描述
rotation	电机或电机组的旋转位置，以浮点数或整数表示。
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。如果未指定速度或先前设置为，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 to the new 0 position
motor_1.set_position(180, DEGREES)
motor_1.spin_to_position(0, DEGREES)

stop

stop immediately stops the selected motor or motor group.

Usage:
motor_1.stop(mode)

参数	描述
模式	Optional. The stopping behavior to use when the motor stops: BRAKE – Stops immediately. COAST – Slows gradually to a stop. HOLD – Stops and resists movement using motor feedback. If the stopping mode is not specified or previously set, the default behavior is BRAKE.

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

变异体

set_position

set_position sets a specific position value to a motor or motor group, which updates the encoder reading.

Usage: motor_1.set_position(position, units)

参数	描述
position	新位置（整数）。
units	Optional. The unit that represents the rotational value: DEGREES (default) TURNS

# Spin the motor to the new 0 position
motor_1.set_position(180, DEGREES)
motor_1.spin_to_position(0, DEGREES)

set_velocity

set_velocity sets the default spinning speed for all subsequent motor or motor group functions in the project.

Usage:
motor_1.set_velocity(velocity, units)

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

# Spin forward at the default velocity
motor_1.spin_for(FORWARD, 100)
wait(1, SECONDS)

# Spin slower
motor_1.set_velocity(20, PERCENT)
motor_1.spin_for(FORWARD, 100)
wait(1, SECONDS)

# Spin faster
motor_1.set_velocity(100, PERCENT)
motor_1.spin_for(FORWARD, 100)
wait(1, SECONDS)

set_stopping

set_stopping sets how a motor or motor group behaves when it stops.

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.

set_max_torque

set_max_torque sets how much force a motor or motor group can exert.

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	Optional. The unit that represents the torque: PERCENT TorqueUnits.NM (default) – Newton Meters TorqueUnits.INLB – Inch Pounds CurrentUnits.AMP

set_timeout

set_timeout sets a time limit for how long a motor or motor group 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 block.

Usage:
motor_1.set_timeout(value, units)

参数	描述
value	电机功能在停止并切换到下一个功能之前将运行的最大秒数，以整数或浮点数表示。
units	Optional. The unit that represents the time: SECONDS MSEC (default) – Milliseconds

set_reversed

set_reversed sets the motor to be reversed so that the FORWARD direction will spin clockwise. This method works the same as setting the reverse parameter to True when constructing a Motor.

注意：此方法仅适用于单个电机，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

reset_position

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

Usage:
motor_1.reset_position()

参数	描述
	此方法没有参数。

获取器

is_done

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

• True - The motor is not spinning.

• False - The motor is spinning.

Note: is_done only detects movement from methods that have a wait parameter.

Usage:
motor_1.is_done()

参数	描述
	此方法没有参数。

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

is_spinning

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

• True - The motor is spinning.

• False - The motor is not spinning.

Note: is_spinning only detects movement from methods that have a wait parameter.

Usage:
motor_1.is_spinning()

参数	描述
	此方法没有参数。

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

position

position returns the total distance the selected motor or motor group has rotated. This value can be positive or negative depending on the motor’s or motor group’s configuration.

Usage:
motor_1.position(units)

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

# Display the motor's position after spinning
brain.screen.print(motor_1.position())
brain.screen.next_row()

motor_1.spin(FORWARD)
wait(1, SECONDS)
brain.screen.print(motor_1.position())

motor_1.stop()

velocity

velocity returns the current rotational speed of the motor or motor group in a range from -100% to 100% or -127 rpm to 127 rpm.

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)

current

current returns the amount of electrical current the motor or motor group in a range from 0.0 to 1.2 amps (amperes).

Usage:
motor_1.current(units)

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

power

power returns the amount of electrical power the motor or motor group is consuming in a range from 0.0 to 22.0 watts.

Usage:
motor_1.power(units)

参数	描述
units	Optional. The unit that represents the power: PowerUnits.WATT (default) – Watt

torque

torque returns the amount of torque currently being applied by the motor or motor group in a range from 0.0 to 22.0 inch-pounds (InLb) or 0.0 to 2.1 Newton-meters (Nm).

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

efficiency

efficiency returns the current efficiency of the motor or motor group as a percent.

Usage:
motor_1.efficiency(units)

参数	描述
units	Optional. The unit that represents the efficiency: PERCENT (default)

temperature

temperature returns the current temperature of the motor or motor group.

Usage:
motor_1.temperature(units)

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

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。

Usage:
motor_group_1.count()

参数	描述
	此方法没有参数。

get_timeout

get_timeout returns the currently set timeout in milliseconds.

motor_1.get_timeout()

参数	描述
	此方法没有参数。

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 single motor.

Usage:
Motor(port, gears, reverse)

范围	描述
port	The Smart Port that the motor is connected to, written as Ports.PORTx where x is the number of the port.
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 – FORWARD will spin clockwise False (default) – FORWARD will spin counterclockwise

# Create a Motor in Port 1 with default values
motor_1 = Motor(Ports.PORT1)

"""
Create a motor with the following values:
- In Port 1
- 2:1 ratio
- Reversed
"""
motor_1 = Motor(Ports.PORT1, GearSetting.RATIO_2_1, True)

MotorGroup

MotorGroup creates a motor group.

Usage:
MotorGroup(motors)

范围	描述
motors	The names of previously created Motor objects to be put in the motor group separated by commas (,). Up to 12 Motor objects can be added to the group.

# Create the Motors
motor_1 = Motor(Ports.PORT1)
motor_2 = Motor(Ports.PORT2)

# Create a Motor Group
motor_group_1 = MotorGroup(motor_1, motor_2)