vex::motor_group Class Reference

Public Member Functions
	motor_group ()
	~motor_group ()
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 More...
void	setVelocity (float 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. More...
void	setVelocity (float velocity, percentUnits units)
void	setStopping (brakeType mode)
	Sets the stopping mode of the motor group by passing a brake mode as a parameter. More...
void	resetRotation (void)
	Resets all motor encoders to the value of zero. More...
void	setRotation (float value, rotationUnits units)
	Sets the value of all motor encoders to the value specified in the parameter. More...
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. More...
void	spin (directionType dir)
	Turns the motors on, and spins them in the specified direction. More...
void	spin (directionType dir, float velocity, velocityUnits units)
	Turn on the motors and spins them in the 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 motors and spin them to an absolute target rotation value at a specified velocity. More...
bool	spinTo (float rotation, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and spin them to an absolute target rotation value. More...
bool	spinFor (float rotation, rotationUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and spin them 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)
	Turn on the motors and spin them to a relative target rotation value at a specified velocity. More...
bool	spinFor (float rotation, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and spin them to a relative target rotation value. More...
bool	spinFor (directionType dir, float rotation, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and spin them to a relative target rotation value. More...
void	spinFor (float time, timeUnits units, float velocity, velocityUnits units_v)
	Turn on the motors and spin them to a relative target time value at a specified velocity. More...
void	spinFor (directionType dir, float time, timeUnits units, float velocity, velocityUnits units_v)
	Turn on the motors and spin them to a relative target time value at a specified velocity. More...
void	spinFor (float time, timeUnits units)
	Turn on the motors and spin them to a relative target time value. More...
void	spinFor (directionType dir, float time, timeUnits units)
	Turn on the motors and spin them to a relative target time value. More...
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 (void)
	Checks to see if any of the motors are rotating to a specific target. More...
bool	isDone (void)
	Checks to see if all the motor are done rotating to a specific target. More...
void	stop (void)
	Stops all motors using the default brake mode. More...
void	stop (brakeType mode)
	Stops all motors using a specified brake mode. More...
void	setMaxTorque (float value, percentUnits units)
	Sets the max torque of the motors. More...
void	setMaxTorque (float value, torqueUnits units)
	Sets the max torque of the motors. More...
void	setMaxTorque (float value, currentUnits units)
	Sets the max torque of the motors. More...
directionType	direction (void)
	Gets which direction the first motor in the group is spinning. More...
float	rotation (rotationUnits units)
	Gets the current rotation of the first motor in the group's encoder. More...
float	velocity (velocityUnits units)
	Gets the current velocity of the first motor in the group. More...
float	velocity (percentUnits units)
float	current (currentUnits units=currentUnits::amp)
	Gets the sum electrical current for all motors in the group. More...

Friends
class	drivetrain

Constructor & Destructor Documentation

motor_group() [1/2]

vex::motor_group::motor_group

(

)

~motor_group()

vex::motor_group::~motor_group

(

)

motor_group() [2/2]

template<typename... Args>

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

inline

Member Function Documentation

operator()()

template<typename... Args>

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

inline

count()

int32_t vex::motor_group::count

(

void

)

return the number of motors in the motor group

Returns

number of motors

setVelocity() [1/2]

void vex::motor_group::setVelocity	(	float	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.

setVelocity() [2/2]

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

inline

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.

resetRotation()

void vex::motor_group::resetRotation

(

void

)

Resets all motor encoders to the value of zero.

setRotation()

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

Sets the value of all motor encoders 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_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.

spin() [1/3]

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() [2/3]

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

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

inline

spinTo() [1/2]

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

spinTo() [2/2]

bool vex::motor_group::spinTo	(	float	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.

spinFor() [1/8]

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

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

dir	The direction to spin the motors.
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_group::spinFor	(	float	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() [4/8]

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

dir	The direction to spin the motors.
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_group::spinFor	(	float	time,
		timeUnits	units,
		float	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.

spinFor() [6/8]

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

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

Parameters

dir	The direction to spin the motors.
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_group::spinFor	(	float	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() [8/8]

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

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

Parameters

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

startSpinTo() [1/2]

void vex::motor_group::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_group::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_group::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_group::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_group::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_group::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_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.

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.

stop() [1/2]

void vex::motor_group::stop

(

void

)

Stops all motors using the default brake mode.

stop() [2/2]

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.

setMaxTorque() [1/3]

void vex::motor_group::setMaxTorque	(	float	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() [2/3]

void vex::motor_group::setMaxTorque	(	float	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.

setMaxTorque() [3/3]

void vex::motor_group::setMaxTorque	(	float	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.

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.

rotation()

float vex::motor_group::rotation

(

rotationUnits

units

)

Gets the current rotation of the first motor in the group'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() [1/2]

float vex::motor_group::velocity

(

velocityUnits

units

)

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

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.

velocity() [2/2]

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

inline

current()

float vex::motor_group::current

(

currentUnits

units = currentUnits::amp

)

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

Returns

Returns a float that represents the electrical current of the motors 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