Use the motor class to control motor devices. More...

#include <vex_motor.h>

Inheritance diagram for vex::motor:

Public Member Functions
	motor (int32_t index)
	Creates a new motor object on the port specified.

bool	installed ()

int32_t	value ()

	motor (int32_t index, bool reverse)
	Creates a new motor object on the port specified and sets the reversed flag.

	motor (int32_t index, double gearRatio)
	Creates a new motor object on the port specified and sets the output gear ratio.

	motor (int32_t index, double gearRatio, bool reverse)
	Creates a new motor object on the port specified and sets the output gear ratio and reverse flag.

void	setReversed (bool value)
	Sets the motor mode to "reverse", which will make motor commands spin the motor in the opposite direction.

void	setVelocity (double velocity, velocityUnits units)
	Sets the velocity of the motor based on the parameters set in the command. This command will not run the motor. Any subsequent call that does not contain a specified motor velocity will use this value.

void	setVelocity (double velocity, percentUnits units)
	Sets the velocity of the motor based on the parameters set in the command. This command will not run the motor. Any subsequent call that does not contain a specified motor velocity will use this value.

void	setBrake (brakeType mode)

void	setStopping (brakeType mode)
	Sets the stopping mode of the motor by passing a brake mode as a parameter.

void	resetPosition (void)
	Resets the motor's encoder to the value of zero.

void	setPosition (double value, rotationUnits units)
	Sets the value of the motor's encoder to the value specified in the parameter.

void	setTimeout (int32_t time, timeUnits units)
	Sets the timeout for the motor. If the motor does not reach its' commanded position prior to the completion of the timeout, the motor will stop.

void	spin (directionType dir)
	Turns the motor on, and spins it in the specified direction.

void	spin (directionType dir, double velocity, velocityUnits units)
	Turns on the motor and spins it in a specified direction and a specified velocity.

void	spin (directionType dir, double velocity, percentUnits units)

void	spin (directionType dir, double voltage, voltageUnits units)
	Turns on the motor and spins it in a specified direction and a specified voltage.

bool	spinTo (double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turns on the motor and spins it to an absolute target rotation value at a specified velocity.

bool	spinToPosition (double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)

bool	spinTo (double rotation, rotationUnits units, bool waitForCompletion=true)
	Turns on the motor and spins it to an absolute target rotation value.

bool	spinToPosition (double rotation, rotationUnits units, bool waitForCompletion=true)

bool	spinFor (double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turns on the motor and spins it to a relative target rotation value at a specified velocity.

bool	spinFor (directionType dir, double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)

bool	spinFor (double rotation, rotationUnits units, bool waitForCompletion=true)
	Turns on the motor and spins it to a relative target rotation value.

bool	spinFor (directionType dir, double rotation, rotationUnits units, bool waitForCompletion=true)

bool	spinFor (double time, timeUnits units, double velocity, velocityUnits units_v)
	Turns on the motor and spins it to a relative target time value at a specified velocity.

bool	spinFor (directionType dir, double time, timeUnits units, double velocity, velocityUnits units_v)

bool	spinFor (double time, timeUnits units)
	Turns on the motor and spins it to a relative target time value.

bool	spinFor (directionType dir, double time, timeUnits units)

bool	isSpinning (void)
	Checks to see if the motor is rotating to a specific target.

bool	isDone (void)
	Checks to see if the motor is done rotating to a specific target.

bool	isSpinningMode (void)

void	stop (void)
	Stops the motor using the default brake mode.

void	stop (brakeType mode)
	Stops the motor using a specified brake mode.

void	setMaxTorque (double value, percentUnits units)
	Sets the max torque of the motor.

void	setMaxTorque (double value, torqueUnits units)
	Sets the max torque of the motor.

void	setMaxTorque (double value, currentUnits units)
	Sets the max torque of the motor.

directionType	direction (void)
	Gets which direction the motor is spinning.

double	position (rotationUnits units)
	Gets the current position of the motor's encoder.

double	velocity (velocityUnits units)
	Gets the current velocity of the motor.

double	velocity (percentUnits units)

double	current (currentUnits units=currentUnits::amp)
	Gets the electrical current of the motor.

double	current (percentUnits units)
	Gets the electrical current of the motor in percentage of maximum.

double	voltage (voltageUnits units=voltageUnits::volt)
	Gets the electrical voltage of the motor.

double	power (powerUnits units=powerUnits::watt)
	Gets the power of the motor.

double	torque (torqueUnits units=torqueUnits::Nm)
	Gets the torque of the motor.

double	efficiency (percentUnits units=percentUnits::pct)
	Gets the efficiency of the motor.

double	temperature (percentUnits units=percentUnits::pct)
	Gets the temperature of the motor.

double	temperature (temperatureUnits units)
	Gets the temperature of the motor.

Public Member Functions inherited from vex::device
	device (int32_t index)

IQ_DeviceType	type ()

int32_t	index ()

void	init (int32_t index)

int32_t	readDigitalPin ()

int32_t	readAnalogPin ()

Protected Member Functions
int32_t	getTimeout ()

double	getVelocity (velocityUnits units)

Protected Member Functions inherited from vex::device
void	setPollInterval (int32_t value)

bool	pollValid (bool bSave)

Additional Inherited Members
Protected Attributes inherited from vex::device
int16_t	_index

Detailed Description

Use the motor class to control motor devices.

Definition at line 34 of file vex_motor.h.

Constructor & Destructor Documentation

◆ motor() [1/4]

vex::motor::motor ( int32_t index )

Creates a new motor object on the port specified.

Parameters

index The port index for this motor. The index is zero-based.

◆ motor() [2/4]

vex::motor::motor	(	int32_t	index,
		bool	reverse )

Creates a new motor object on the port specified and sets the reversed flag.

Parameters

index	The port index for this motor. The index is zero-based.
reverse	Sets the reverse flag for the new motor object.

◆ motor() [3/4]

vex::motor::motor	(	int32_t	index,
		double	gearRatio )

Creates a new motor object on the port specified and sets the output gear ratio.

Parameters

index	The port index for this motor. The index is zero-based.
gearRatio	the theoretical gear ration of the motor.

◆ motor() [4/4]

vex::motor::motor	(	int32_t	index,
		double	gearRatio,
		bool	reverse )

Creates a new motor object on the port specified and sets the output gear ratio and reverse flag.

Parameters

index	The port index for this motor. The index is zero-based.
gearRatio	the theoretical gear ration of the motor.
reverse	Sets the reverse flag for the new motor object.

Member Function Documentation

◆ current() [1/2]

double vex::motor::current ( currentUnits units = currentUnits::amp )

Gets the electrical current of the motor.

Returns: Returns a double that represents the electrical current of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the current.

◆ current() [2/2]

double vex::motor::current ( percentUnits units )

Gets the electrical current of the motor in percentage of maximum.

Returns: Returns a double that represents the electrical current of the motor as percentage of max current.

Parameters

units The measurement unit for the current.

◆ direction()

directionType vex::motor::direction ( void )

Gets which direction the motor is spinning.

Returns: Returns the direction that the motor is spinning.

◆ efficiency()

double vex::motor::efficiency ( percentUnits units = percentUnits::pct )

Gets the efficiency of the motor.

Returns: Returns the efficiency of the motor in the units defined in the parameter.

Parameters

units (Optional) The measurement unit for the efficiency. By default, this parameter is a percentage.

◆ installed()

bool vex::motor::installed ( )

virtual

Reimplemented from vex::device.

◆ isDone()

bool vex::motor::isDone ( void )

Checks to see if the motor is done rotating to a specific target.

Returns: Returns a false Boolean if the motor is on and is rotating to a target. Returns a true Boolean if the motor is done rotating to a target.

◆ isSpinning()

bool vex::motor::isSpinning ( void )

Checks to see if the motor is rotating to a specific target.

Returns: Returns a true Boolean if the motor is on and is rotating to a target. Returns a false Boolean if the motor is done rotating to a target.

◆ position()

double vex::motor::position ( rotationUnits units )

Gets the current position of the motor's encoder.

Returns: Returns a double that represents the current position of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the position.

◆ power()

double vex::motor::power ( powerUnits units = powerUnits::watt )

Gets the power of the motor.

Returns: Returns a double that represents the power of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the power.

◆ setMaxTorque() [1/3]

void vex::motor::setMaxTorque	(	double	value,
		currentUnits	units )

Sets the max torque of the motor.

Parameters

value	Sets the amount of torque.
units	The measurement unit for the torque value.

◆ setMaxTorque() [2/3]

void vex::motor::setMaxTorque	(	double	value,
		percentUnits	units )

Sets the max torque of the motor.

Parameters

value	Sets the amount of torque.
units	The measurement unit for the torque value.

◆ setMaxTorque() [3/3]

void vex::motor::setMaxTorque	(	double	value,
		torqueUnits	units )

Sets the max torque of the motor.

Parameters

value	Sets the amount of torque.
units	The measurement unit for the torque value.

◆ setPosition()

void vex::motor::setPosition	(	double	value,
		rotationUnits	units )

Sets the value of the motor's encoder to the value specified in the parameter.

Parameters

value	Sets the current position of the motor.
units	The measurement unit for the position value.

◆ setReversed()

void vex::motor::setReversed ( bool value )

Sets the motor mode to "reverse", which will make motor commands spin the motor in the opposite direction.

Parameters

value If set to true, motor commands spin the motor in the opposite direction.

◆ setStopping()

void vex::motor::setStopping ( brakeType mode )

Sets the stopping mode of the motor by passing a brake mode as a parameter.

Parameters

mode	The stopping mode can be set to coast, brake, or hold.

◆ setTimeout()

void vex::motor::setTimeout	(	int32_t	time,
		timeUnits	units )

Sets the timeout for the motor. If the motor does not reach its' commanded position prior to the completion of the timeout, the motor will stop.

Parameters

time	Sets the amount of time.
units	The measurement unit for the time value.

◆ setVelocity() [1/2]

void vex::motor::setVelocity	(	double	velocity,
		percentUnits	units )

inline

Sets the velocity of the motor based on the parameters set in the command. This command will not run the motor. Any subsequent call that does not contain a specified motor velocity will use this value.

Parameters

velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

Definition at line 86 of file vex_motor.h.

◆ setVelocity() [2/2]

void vex::motor::setVelocity	(	double	velocity,
		velocityUnits	units )

Sets the velocity of the motor based on the parameters set in the command. This command will not run the motor. Any subsequent call that does not contain a specified motor velocity will use this value.

Parameters

velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

◆ spin() [1/4]

void vex::motor::spin ( directionType dir )

Turns the motor on, and spins it in the specified direction.

Parameters

dir	The direction to spin the motor.

◆ spin() [2/4]

void vex::motor::spin	(	directionType	dir,
		double	velocity,
		percentUnits	units )

inline

Definition at line 134 of file vex_motor.h.

◆ spin() [3/4]

void vex::motor::spin	(	directionType	dir,
		double	velocity,
		velocityUnits	units )

Turns on the motor and spins it in a specified direction and a specified velocity.

Parameters

dir	The direction to spin the motor.
velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

◆ spin() [4/4]

void vex::motor::spin	(	directionType	dir,
		double	voltage,
		voltageUnits	units )

Turns on the motor and spins it in a specified direction and a specified voltage.

Parameters

dir	The direction to spin the motor.
voltage	Sets the amount of volts.
units	The measurement unit for the voltage value.

◆ spinFor() [1/4]

bool vex::motor::spinFor	(	double	rotation,
		rotationUnits	units,
		bool	waitForCompletion = true )

Turns on the motor and spins it to a relative target rotation value.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

rotation	Sets the amount of rotation.
units	The measurement unit for the rotation value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ spinFor() [2/4]

bool vex::motor::spinFor	(	double	rotation,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = true )

Turns on the motor and spins it to a relative target rotation value at a specified velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

rotation	Sets the amount of rotation.
units	The measurement unit for the rotation value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ spinFor() [3/4]

bool vex::motor::spinFor	(	double	time,
		timeUnits	units )

Turns on the motor and spins it to a relative target time value.

Returns: true on success, false if parameter error

Parameters

time	Sets the amount of time.
units	The measurement unit for the time value.

◆ spinFor() [4/4]

bool vex::motor::spinFor	(	double	time,
		timeUnits	units,
		double	velocity,
		velocityUnits	units_v )

Turns on the motor and spins it to a relative target time value at a specified velocity.

Returns: true on success, false if parameter error

Parameters

time	Sets the amount of time.
units	The measurement unit for the time value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.

◆ spinTo() [1/2]

bool vex::motor::spinTo	(	double	rotation,
		rotationUnits	units,
		bool	waitForCompletion = true )

Turns on the motor and spins it to an absolute target rotation value.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

rotation	Sets the amount of rotation.
units	The measurement unit for the rotation value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ spinTo() [2/2]

bool vex::motor::spinTo	(	double	rotation,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = true )

Turns on the motor and spins it to an absolute target rotation value at a specified velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

rotation	Sets the amount of rotation.
units	The measurement unit for the rotation value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ stop()

void vex::motor::stop ( brakeType mode )

Stops the motor using a specified brake mode.

Parameters

mode	The brake mode can be set to coast, brake, or hold.

◆ temperature() [1/2]

double vex::motor::temperature ( percentUnits units = percentUnits::pct )

Gets the temperature of the motor.

Returns: Returns the temperature of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the temperature.

◆ temperature() [2/2]

double vex::motor::temperature ( temperatureUnits units )

Gets the temperature of the motor.

Returns: Returns the temperature of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the temperature.

◆ torque()

double vex::motor::torque ( torqueUnits units = torqueUnits::Nm )

Gets the torque of the motor.

Returns: Returns a double that represents the torque of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the torque.

◆ value()

int32_t vex::motor::value ( )

virtual

Reimplemented from vex::device.

◆ velocity() [1/2]

double vex::motor::velocity ( percentUnits units )

inline

Definition at line 284 of file vex_motor.h.

◆ velocity() [2/2]

double vex::motor::velocity ( velocityUnits units )

Gets the current velocity of the motor.

Returns: Returns a double that represents the current velocity of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the velocity.

◆ voltage()

double vex::motor::voltage ( voltageUnits units = voltageUnits::volt )

Gets the electrical voltage of the motor.

Returns: Returns a double that represents the electrical voltage of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the voltage.

The documentation for this class was generated from the following file:

vex_motor.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ motor() [1/4]

◆ motor() [2/4]

◆ motor() [3/4]

◆ motor() [4/4]

Member Function Documentation

◆ current() [1/2]

◆ current() [2/2]

◆ direction()

◆ efficiency()

◆ installed()

◆ isDone()

◆ isSpinning()

◆ position()

◆ power()

◆ setMaxTorque() [1/3]

◆ setMaxTorque() [2/3]

◆ setMaxTorque() [3/3]

◆ setPosition()

◆ setReversed()

◆ setStopping()

◆ setTimeout()

◆ setVelocity() [1/2]

◆ setVelocity() [2/2]

◆ spin() [1/4]

◆ spin() [2/4]

◆ spin() [3/4]

◆ spin() [4/4]

◆ spinFor() [1/4]

◆ spinFor() [2/4]

◆ spinFor() [3/4]

◆ spinFor() [4/4]

◆ spinTo() [1/2]

◆ spinTo() [2/2]

◆ stop()

◆ temperature() [1/2]

◆ temperature() [2/2]

◆ torque()

◆ value()

◆ velocity() [1/2]

◆ velocity() [2/2]

◆ voltage()