Inheritance diagram for vex.Motor:

Public Member Functions
def	__init__ (self, index, reverse=False)

def	set_reversed (self, is_reversed)
	Sets the motor mode to "reverse", which will make motor commands spin the motor in the opposite direction. More...

def	set_velocity (self, velocity, velocityUnits=VelocityUnits.PCT)
	Sets the velocity of the motor based on the parameters set in the command. More...

def	set_stopping (self, brakeType)
	Sets the stopping mode of the motor by passing a brake mode as a parameter. More...

def	reset_rotation (self)
	Resets the motor's encoder to the value of zero. More...

def	set_rotation (self, value, rotationUnits=RotationUnits.DEG)
	Sets the value of the motor's encoder to the value specified in the parameter. More...

def	set_timeout (self, time, timeUnits=TimeUnits.SEC)
	Sets the timeout for the motor. More...

def	timeout (self, timeUnits=TimeUnits.SEC)

def	did_timeout (self)

def	spin (self, dir, velocity=None, velocityUnits=VelocityUnits.PCT)
	Turns on the motor and spins it in a specified direction and a specified velocity. More...

def	spin_to (self, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True)
	Turns on the motor and spins it to an absolute target rotation value at a specified velocity. More...

def	spin_for (self, dir, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True)
	Turns on the motor and spins it to a relative target rotation value at a specified velocity. More...

def	spin_for_time (self, dir, time, timeUnits=TimeUnits.SEC, velocity=None, velocityUnits=VelocityUnits.PCT)
	Turns on the motor and spins it to a relative target time value at a specified velocity. More...

def	start_spin_to (self, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT)
	Starts spinning a motor to an absolute target rotation but does not wait for the motor to reach that target. More...

def	start_spin_for (self, dir, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT)
	Starts spinning a motor to a relative target rotation but does not wait for the motor to reach that target. More...

def	is_spinning (self)
	Determines if a spin_for/spin_to command is in progress. More...

def	is_done (self)
	Determines if a spin_for/spin_to command has reached its target position. More...

def	stop (self, brakeType=None)
	Stops the motor using the default brake mode. More...

def	set_max_torque_percent (self, value)
	Sets the max torque of the motor as a percentage. More...

def	set_max_torque (self, value, torqueUnits=TorqueUnits.NM)
	Sets the max torque of the motor. More...

def	set_max_torque_current (self, value)
	Sets the max torque of the motor. More...

def	rotation (self, rotationUnits=RotationUnits.DEG)
	Gets the current rotation of the motor's encoder. More...

def	velocity (self, velocityUnits=VelocityUnits.PCT)
	Gets the current velocity of the motor. More...

def	current (self)
	Gets the electrical current of the motor. More...

Detailed Description

 @brief Creates a new motor object on the port specified and sets the reversed flag.
 @param index The port index for this motor. The index is zero-based.
 @param reverse Sets the reverse flag for the new motor object.

Constructor & Destructor Documentation

◆ init()

def vex.Motor.__init__	(	self,
		index,
		reverse = `False`
	)

Member Function Documentation

◆ set_reversed()

def vex.Motor.set_reversed	(	self,
		is_reversed
	)

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

Parameters

is_reversed If set to True, motor commands spin the motor in the opposite direction.

◆ set_velocity()

def vex.Motor.set_velocity	(	self,
		velocity,
		velocityUnits = `VelocityUnits.PCT`
	)

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.
velocityUnits	The measurement unit for the velocity, a VelocityUnits enum value.

◆ set_stopping()

def vex.Motor.set_stopping	(	self,
		brakeType
	)

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

(note this will stop the motor if it's spinning)

Parameters

brakeType The stopping mode can be set to BrakeType.COAST, BRAKE, or HOLD.

◆ reset_rotation()

def vex.Motor.reset_rotation ( self )

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

◆ set_rotation()

def vex.Motor.set_rotation	(	self,
		value,
		rotationUnits = `RotationUnits.DEG`
	)

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

Parameters

value	Sets the amount of rotation.
rotationUnits	The measurement unit for the rotation, a RotationUnits enum value.

◆ set_timeout()

def vex.Motor.set_timeout	(	self,
		time,
		timeUnits = `TimeUnits.SEC`
	)

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.
timeUnits	The measurement unit for the time, a TimeUnits enum value.

◆ timeout()

def vex.Motor.timeout	(	self,
		timeUnits = `TimeUnits.SEC`
	)

Returns: Returns a timeout in given time units

◆ did_timeout()

def vex.Motor.did_timeout ( self )

Returns: True if the last motor operation timed out

◆ spin()

def vex.Motor.spin	(	self,
		dir,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`
	)

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

Parameters

dir	The direction to spin the motor, DirectionType enum value.
velocity	Sets the amount of velocity.
velocityUnits	The measurement unit for the velocity, a VelocityUnits enum value.

◆ spin_to()

def vex.Motor.spin_to	(	self,
		rotation,
		rotationUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`,
		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.
rotationUnits	The measurement unit for the rotation value.
velocity	Sets the amount of velocity.
velocityUnits	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.

◆ spin_for()

def vex.Motor.spin_for	(	self,
		dir,
		rotation,
		rotationUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`,
		waitForCompletion = `True`
	)

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

Returns: True if motor has reached the target rotation value, False otherwise.

Parameters

dir	direction to spin in, a DirectionType enum value or None.
rotation	Sets the amount of rotation.
rotationUnits	The measurement unit for the rotation value.
velocity	Sets the amount of velocity.
velocityUnits	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.

◆ spin_for_time()

def vex.Motor.spin_for_time	(	self,
		dir,
		time,
		timeUnits = `TimeUnits.SEC`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`
	)

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

Parameters

dir	direction to spin in, a DirectionType enum value or None.
time	Sets the amount of time.
timeUnits	The measurement unit for the time value.
velocity	Sets the amount of velocity.
velocityUnits	The measurement unit for the velocity value.

◆ start_spin_to()

def vex.Motor.start_spin_to	(	self,
		rotation,
		rotationUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`
	)

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.
rotationUnits	The measurement unit for the rotation value.
velocity	Sets the amount of velocity.
velocityUnits	The measurement unit for the velocity value.

◆ start_spin_for()

def vex.Motor.start_spin_for	(	self,
		dir,
		rotation,
		rotationUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`
	)

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

Parameters

dir	direction to spin in, a DirectionType enum value or None.
rotation	Sets the amount of rotation.
rotationUnits	The measurement unit for the rotation value.
velocity	Sets the amount of velocity.
velocityUnits	The measurement unit for the velocity value.

◆ is_spinning()

def vex.Motor.is_spinning ( self )

Determines if a spin_for/spin_to command is in progress.

Returns: True if the motor is on and is rotating to a target, False if the motor is done rotating to a target.

◆ is_done()

def vex.Motor.is_done ( self )

Determines if a spin_for/spin_to command has reached its target position.

Returns: False if the motor is on and is rotating to a target, True if the motor is done rotating to a target.

◆ stop()

def vex.Motor.stop	(	self,
		brakeType = `None`
	)

Stops the motor using the default brake mode.

Parameters

brakeType The brake mode can be set to BrakeType.COAST, BRAKE, or HOLD.

◆ set_max_torque_percent()

def vex.Motor.set_max_torque_percent	(	self,
		value
	)

Sets the max torque of the motor as a percentage.

Parameters

value Sets the amount of torque (0 to 100%)

◆ set_max_torque()

def vex.Motor.set_max_torque	(	self,
		value,
		torqueUnits = `TorqueUnits.NM`
	)

Sets the max torque of the motor.

Parameters

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

◆ set_max_torque_current()

def vex.Motor.set_max_torque_current	(	self,
		value
	)

Sets the max torque of the motor.

Parameters

value Sets the amount of torque in Amps (max 1.2A)

◆ rotation()

def vex.Motor.rotation	(	self,
		rotationUnits = `RotationUnits.DEG`
	)

Gets the current rotation of the motor's encoder.

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

Parameters

rotationUnits The measurement unit for the rotation.

◆ velocity()

def vex.Motor.velocity	(	self,
		velocityUnits = `VelocityUnits.PCT`
	)

Gets the current velocity of the motor.

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

Parameters

velocityUnits The measurement unit for the velocity.

◆ current()

def vex.Motor.current ( self )

Gets the electrical current of the motor.

Returns: a float that represents the electrical current of the motor in Amps.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ set_reversed()

◆ set_velocity()

◆ set_stopping()

◆ reset_rotation()

◆ set_rotation()

◆ set_timeout()

◆ timeout()

◆ did_timeout()

◆ spin()

◆ spin_to()

◆ spin_for()

◆ spin_for_time()

◆ start_spin_to()

◆ start_spin_for()

◆ is_spinning()

◆ is_done()

◆ stop()

◆ set_max_torque_percent()

◆ set_max_torque()

◆ set_max_torque_current()

◆ rotation()

◆ velocity()

◆ current()

◆ init()