Public Member Functions
template<typename... Args>
	motor_group (vex::motor &m1, Args &... m2)

template<typename... Args>
void	operator() (vex::motor &m1, Args &... m2)

int32_t	count (void)
	return the number of motors in the motor group

void	setVelocity (double velocity, velocityUnits units)
	Sets the velocity of the motor group 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)

void	setStopping (brakeType mode)
	Sets the stopping mode of the motor group 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 all motor encoders to the value specified in the parameter.

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

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

void	spin (directionType dir, double velocity, velocityUnits units)
	Turn on the motors and spins them in the specified direction and a specified velocity.

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

void	spin (directionType dir, double voltage, voltageUnits units)
	Turn on the motors and spins them in the specified direction and a specified voltage.

bool	spinTo (double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turns on the motors and spin them 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)
	Turn on the motors and spin them 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)
	Turn on the motors and spin them 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)
	Turn on the motors and spin them to a relative target rotation value.

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

void	spinFor (double time, timeUnits units, double velocity, velocityUnits units_v)
	Turn on the motors and spin them to a relative target time value at a specified velocity.

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

void	spinFor (double time, timeUnits units)
	Turn on the motors and spin them to a relative target time value.

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

bool	isSpinning (void)
	Checks to see if any of the motors are rotating to a specific target.

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

bool	isSpinningMode (void)

void	stop (void)
	Stops all motors using the default brake mode.

void	stop (brakeType mode)
	Stops all motors using a specified brake mode.

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

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

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

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

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

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

double	velocity (percentUnits units)

double	current (currentUnits units=currentUnits::amp)
	Gets the sum electrical current for all motors in the group.

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

double	voltage (voltageUnits units=voltageUnits::volt)
	Gets the voltage of the first motor in the group.

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

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

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

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

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

Detailed Description

Definition at line 24 of file vex_motorgroup.h.

Constructor & Destructor Documentation

◆ motor_group()

template<typename... Args>

vex::motor_group::motor_group	(	vex::motor &	m1,
		Args &...	m2 )

inline

Definition at line 58 of file vex_motorgroup.h.

Member Function Documentation

◆ count()

int32_t vex::motor_group::count ( void )

return the number of motors in the motor group

Returns: number of motors

◆ current() [1/2]

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

Gets the sum electrical current for all motors in the group.

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

Parameters

units The measurement unit for the current.

◆ current() [2/2]

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

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

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

Parameters

units The measurement unit for the current.

◆ direction()

directionType vex::motor_group::direction ( void )

Gets which direction the first motor in the group is spinning.

Returns: Returns the direction that the motor is spinning.

◆ efficiency()

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

Gets the efficiency of the first motor in the group.

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.

◆ isDone()

bool vex::motor_group::isDone ( void )

Checks to see if all the motor are 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_group::isSpinning ( void )

Checks to see if any of the motors are 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.

◆ operator()()

template<typename... Args>

void vex::motor_group::operator()	(	vex::motor &	m1,
		Args &...	m2 )

inline

Definition at line 64 of file vex_motorgroup.h.

◆ position()

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

Gets the current position of the first motor in the group'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_group::power ( powerUnits units = powerUnits::watt )

Gets the power of the first motor in the group.

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_group::setMaxTorque	(	double	value,
		currentUnits	units )

Sets the max torque of the motors.

Parameters

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

◆ setMaxTorque() [2/3]

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

Sets the max torque of the motors.

Parameters

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

◆ setMaxTorque() [3/3]

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

Sets the max torque of the motors.

Parameters

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

◆ setPosition()

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

Sets the value of all motor encoders to the value specified in the parameter.

Parameters

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

◆ setStopping()

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

Sets the stopping mode of the motor group 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_group::setTimeout	(	int32_t	time,
		timeUnits	units )

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

Parameters

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

◆ setVelocity() [1/2]

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

inline

Definition at line 82 of file vex_motorgroup.h.

◆ setVelocity() [2/2]

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

Sets the velocity of the motor group 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_group::spin ( directionType dir )

Turns the motors on, and spins them in the specified direction.

Parameters

dir	The direction to spin the motors.

◆ spin() [2/4]

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

inline

Definition at line 125 of file vex_motorgroup.h.

◆ spin() [3/4]

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

Turn on the motors and spins them in the specified direction and a specified velocity.

Parameters

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

◆ spin() [4/4]

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

Turn on the motors and spins them in the specified direction and a specified voltage.

Parameters

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

◆ spinFor() [1/4]

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

Turn on the motors and spin them 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_group::spinFor	(	double	rotation,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = true )

Turn on the motors and spin them 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]

void vex::motor_group::spinFor	(	double	time,
		timeUnits	units )

Turn on the motors and spin them to a relative target time value.

Parameters

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

◆ spinFor() [4/4]

void vex::motor_group::spinFor	(	double	time,
		timeUnits	units,
		double	velocity,
		velocityUnits	units_v )

Turn on the motors and spin them to a relative target time value at a specified velocity.

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

Turn on the motors and spin them 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_group::spinTo	(	double	rotation,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = true )

Turns on the motors and spin them to an absolute target rotation value at a specified velocity.

Returns: Returns a Boolean that signifies when the motors have 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_group::stop ( brakeType mode )

Stops all motors using a specified brake mode.

Parameters

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

◆ temperature() [1/2]

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

Gets the temperature of the first motor in the group.

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_group::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_group::torque ( torqueUnits units = torqueUnits::Nm )

Gets the torque of the first motor in the group.

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.

◆ velocity() [1/2]

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

inline

Definition at line 270 of file vex_motorgroup.h.

◆ velocity() [2/2]

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

Gets the current velocity of the first motor in the group.

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_group::voltage ( voltageUnits units = voltageUnits::volt )

Gets the voltage of the first motor in the group.

Returns: Returns a double that represents the 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_motorgroup.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ motor_group()

Member Function Documentation

◆ count()

◆ current() [1/2]

◆ current() [2/2]

◆ direction()

◆ efficiency()

◆ isDone()

◆ isSpinning()

◆ operator()()

◆ position()

◆ power()

◆ setMaxTorque() [1/3]

◆ setMaxTorque() [2/3]

◆ setMaxTorque() [3/3]

◆ setPosition()

◆ 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()

◆ velocity() [1/2]

◆ velocity() [2/2]

◆ voltage()