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

Inherits vex::device.

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

	~motor ()

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

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

void	setVelocity (float 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. More...

void	setVelocity (float velocity, percentUnits units)

void	setStopping (brakeType mode)
	Set default stopping mode (note this will stop the motor if it's spinning). More...

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

void	setRotation (float value, rotationUnits units)
	Sets the value of the motor's encoder to the value specified in the parameter. More...

void	setTimeout (float 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. More...

float	timeout (timeUnits units)

bool	didTimeout (void)

brakeType	_getBrakeMode ()

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

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

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

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

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

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

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

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

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

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

void	spinFor (directionType dir, float time, timeUnits units, float velocity, velocityUnits units_v)
	Turns on the motor and spins it to a relative target time value at a specified velocity. More...

void	spinFor (float time, timeUnits units)

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

void	startSpinTo (float rotation, rotationUnits units, float velocity, velocityUnits units_v)
	Starts spinning a motor to an absolute target rotation but does not wait for the motor to reach that target. More...

void	startSpinTo (float rotation, rotationUnits units)
	Starts spinning a motor to an absolute target rotation but does not wait for the motor to reach that target.. More...

void	startSpinFor (float rotation, rotationUnits units, float velocity, velocityUnits units_v)
	Starts spinning a motor to a relative target rotation but does not wait for the motor to reach that target. More...

void	startSpinFor (directionType dir, float rotation, rotationUnits units, float velocity, velocityUnits units_v)
	Starts spinning a motor to a relative target rotation but does not wait for the motor to reach that target. More...

void	startSpinFor (float rotation, rotationUnits units)
	Starts spinning a motor to a relative target but does not wait for the motor to reach that target. More...

void	startSpinFor (directionType dir, float rotation, rotationUnits units)
	Starts spinning a motor to a relative target but does not wait for the motor to reach that target. More...

bool	isSpinning ()
	Determines if the motor is performing a spinFor/spinTo command. More...

bool	isDone ()
	Determines if a spinFor/spinTo command has reached its target position. More...

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

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

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

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

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

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

float	rotation (rotationUnits units)
	Gets the current rotation of the motor's encoder. More...

float	velocity (velocityUnits units)
	Gets the current velocity of the motor. More...

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

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

	~device ()

Friends
class	drivetrain

Additional Inherited Members
Protected Attributes inherited from vex::device
int32_t	_index

Detailed Description

Use the motor class to control motor devices.

Constructor & Destructor Documentation

◆ motor() [1/2]

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()

vex::motor::~motor ( )

inline

◆ motor() [2/2]

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.

Member Function Documentation

◆ 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.

◆ setVelocity() [1/2]

void vex::motor::setVelocity	(	float	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.

◆ setVelocity() [2/2]

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

inline

◆ setStopping()

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

Set default stopping mode (note this will stop the motor if it's spinning).

Parameters

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

◆ resetRotation()

void vex::motor::resetRotation ( void )

Resets the motor's encoder to the value of zero.

◆ setRotation()

void vex::motor::setRotation	(	float	value,
		rotationUnits	units
	)

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

Parameters

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

◆ setTimeout()

void vex::motor::setTimeout	(	float	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.

◆ timeout()

float vex::motor::timeout ( timeUnits units )

Returns: Returns a timeout in given time units

◆ didTimeout()

bool vex::motor::didTimeout ( void )

Returns: True if the last motor operation timed out

◆ _getBrakeMode()

brakeType vex::motor::_getBrakeMode ( )

◆ spin() [1/3]

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() [2/3]

void vex::motor::spin	(	directionType	dir,
		float	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() [3/3]

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

inline

◆ spinTo() [1/2]

bool vex::motor::spinTo	(	float	rotation,
		rotationUnits	units,
		float	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.

◆ spinTo() [2/2]

bool vex::motor::spinTo	(	float	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.

◆ spinFor() [1/8]

bool vex::motor::spinFor	(	float	rotation,
		rotationUnits	units,
		float	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() [2/8]

bool vex::motor::spinFor	(	directionType	dir,
		float	rotation,
		rotationUnits	units,
		float	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

dir	The direction to spin the motor.
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() [3/8]

bool vex::motor::spinFor	(	float	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() [4/8]

bool vex::motor::spinFor	(	directionType	dir,
		float	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

dir	The direction to spin the motor.
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() [5/8]

void vex::motor::spinFor	(	float	time,
		timeUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

Turns on the motor and spins it 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.

◆ spinFor() [6/8]

void vex::motor::spinFor	(	directionType	dir,
		float	time,
		timeUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

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

Parameters

dir	The direction to spin the motor.
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.

◆ spinFor() [7/8]

void vex::motor::spinFor	(	float	time,
		timeUnits	units
	)

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

Parameters

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

◆ spinFor() [8/8]

void vex::motor::spinFor	(	directionType	dir,
		float	time,
		timeUnits	units
	)

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

Parameters

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

◆ startSpinTo() [1/2]

void vex::motor::startSpinTo	(	float	rotation,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

Starts spinning a motor to an absolute target rotation but does not wait for the motor to reach that target.

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.

◆ startSpinTo() [2/2]

void vex::motor::startSpinTo	(	float	rotation,
		rotationUnits	units
	)

Starts spinning a motor to an absolute target rotation but does not wait for the motor to reach that target..

Parameters

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

◆ startSpinFor() [1/4]

void vex::motor::startSpinFor	(	float	rotation,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

Starts spinning a motor to a relative target rotation but does not wait for the motor to reach that target.

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.

◆ startSpinFor() [2/4]

void vex::motor::startSpinFor	(	directionType	dir,
		float	rotation,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

Starts spinning a motor to a relative target rotation but does not wait for the motor to reach that target.

Parameters

dir	The direction to spin the motor.
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.

◆ startSpinFor() [3/4]

void vex::motor::startSpinFor	(	float	rotation,
		rotationUnits	units
	)

Starts spinning a motor to a relative target but does not wait for the motor to reach that target.

Parameters

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

◆ startSpinFor() [4/4]

void vex::motor::startSpinFor	(	directionType	dir,
		float	rotation,
		rotationUnits	units
	)

Starts spinning a motor to a relative target but does not wait for the motor to reach that target.

Parameters

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

◆ isSpinning()

bool vex::motor::isSpinning ( )

Determines if the motor is performing a spinFor/spinTo command.

Returns: True if spinning.

◆ isDone()

bool vex::motor::isDone ( )

inline

Determines if a spinFor/spinTo command has reached its target position.

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.

◆ stop() [1/2]

void vex::motor::stop ( )

Stops the motor using the default brake mode.

◆ stop() [2/2]

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.

◆ setMaxTorque() [1/3]

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

Sets the max torque of the motor.

Parameters

value	Sets the amount of torque (0 to 100%)
units	The measurement unit for the torque value.

◆ setMaxTorque() [2/3]

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

Sets the max torque of the motor.

Parameters

value	Sets the amount of torque (max 0.414 Nm)
units	The measurement unit for the torque value.

◆ setMaxTorque() [3/3]

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

Sets the max torque of the motor.

Parameters

value	Sets the amount of torque (max 1.2A)
units	The measurement unit for the torque value.

◆ direction()

directionType vex::motor::direction ( void )

Gets which direction the motor is spinning.

Returns: Returns the direction that the motor is spinning.

◆ rotation()

float vex::motor::rotation ( rotationUnits units )

Gets the current rotation of the motor's encoder.

Returns: Returns a float that represents the current rotation of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the rotation.

◆ velocity()

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

Gets the current velocity of the motor.

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

Parameters

units The measurement unit for the velocity.

◆ current()

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

Gets the electrical current of the motor.

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

Parameters

units The measurement unit for the current.

Friends And Related Function Documentation

◆ drivetrain

friend class drivetrain

friend

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ motor() [1/2]

◆ ~motor()

◆ motor() [2/2]

Member Function Documentation

◆ setReversed()

◆ setVelocity() [1/2]

◆ setVelocity() [2/2]

◆ setStopping()

◆ resetRotation()

◆ setRotation()

◆ setTimeout()

◆ timeout()

◆ didTimeout()

◆ _getBrakeMode()

◆ spin() [1/3]

◆ spin() [2/3]

◆ spin() [3/3]

◆ spinTo() [1/2]

◆ spinTo() [2/2]

◆ spinFor() [1/8]

◆ spinFor() [2/8]

◆ spinFor() [3/8]

◆ spinFor() [4/8]

◆ spinFor() [5/8]

◆ spinFor() [6/8]

◆ spinFor() [7/8]

◆ spinFor() [8/8]

◆ startSpinTo() [1/2]

◆ startSpinTo() [2/2]

◆ startSpinFor() [1/4]

◆ startSpinFor() [2/4]

◆ startSpinFor() [3/4]

◆ startSpinFor() [4/4]

◆ isSpinning()

◆ isDone()

◆ stop() [1/2]

◆ stop() [2/2]

◆ setMaxTorque() [1/3]

◆ setMaxTorque() [2/3]

◆ setMaxTorque() [3/3]

◆ direction()

◆ rotation()

◆ velocity()

◆ current()

Friends And Related Function Documentation

◆ drivetrain