motor_group.MotorGroup Class Reference

Public Member Functions
def	__init__ (self, motors)
def	count (self)
	return the number of motors in the motor group More...
def	set_velocity (self, velocity, velocityUnits=VelocityUnits.PCT)
	Sets the velocity of the motor group based on the parameters set in the command. More...
def	set_stopping (self, brakeType)
	Sets the stopping mode of the motor group by passing a brake mode as a parameter. More...
def	reset_rotation (self)
	Resets all motor encoders to the value of zero. More...
def	set_rotation (self, value, rotationUnits=RotationUnits.DEG)
	Sets the value of all motor encoders to the value specified in the parameter. More...
def	set_timeout (self, time, timeUnits=TimeUnits.SEC)
	Sets the timeout for the motor group. More...
def	spin (self, dir, velocity=None, velocityUnits=VelocityUnits.PCT)
	Turn on the motors and spins them in the specified direction and a specified velocity. More...
def	spin_with_voltage (self, dir, voltage, voltageUnits=VoltageUnits.VOLT)
	Turns on the motors and spins them in a specified direction and a specified voltage. More...
def	spin_to (self, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True)
	Turns on the motors and spin them to an absolute target rotation value at a specified velocity. More...
def	spin_to_position (self, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True)
	Turns on the motors and spins them 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)
	Turn on the motors and spin them 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)
	Turn on the motors and spin them for a given amount of time. More...
def	start_spin_to (self, rotation, rotationUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT)
	Starts spinning motors to an absolute target rotation but does not wait for the motors to reach that target. More...
def	start_spin_to_position (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 motors to a relative target rotation but does not wait for the motors to reach that target. More...
def	is_spinning (self)
	Checks to see if a spin_for/spin_to command is still in process, i.e. 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 all motors using the default brake mode. More...
def	set_max_torque (self, value, torqueUnits=TorqueUnits.NM)
	Sets the max torque of all motors. More...
def	set_max_torque_percent (self, value)
	Sets the max torque of all motors as a percentage. More...
def	set_max_torque_current (self, value)
	Sets the max torque of all motors. More...
def	direction (self)
	Gets which direction the first motor is spinning. More...
def	rotation (self, rotationUnits=RotationUnits.DEG)
	Gets the current rotation of the first motor in the group's encoder. More...
def	velocity (self, velocityUnits=VelocityUnits.PCT)
	Gets the current velocity of the first motor in the group. More...
def	current (self)
	Gets the sum electrical current for all motors in the group. More...
def	power (self, powerUnits=PowerUnits.WATT)
	Gets the power of the first motor. More...
def	torque (self, torqueUnits=TorqueUnits.NM)
	Gets the torque of the first motor. More...
def	efficiency (self, percentUnits=PercentUnits.PCT)
	Gets the efficiency of the first motor. More...
def	temperature (self, temperatureUnits=TemperatureUnits.CELSIUS)
	Gets the temperature of the motor. More...

Detailed Description

 Creates a new motor group with specified motors
 @param motors a list or tuple of motors in the group

Constructor & Destructor Documentation

__init__()

def motor_group.MotorGroup.__init__	(		self,
			motors
	)

Member Function Documentation

count()

def motor_group.MotorGroup.count

(

self

)

return the number of motors in the motor group

Returns

number of motors

set_velocity()

def motor_group.MotorGroup.set_velocity	(		self,
			velocity,
			velocityUnits = VelocityUnits.PCT
	)

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

set_stopping()

def motor_group.MotorGroup.set_stopping	(		self,
			brakeType
	)

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

Parameters

brakeType

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

reset_rotation()

def motor_group.MotorGroup.reset_rotation

(

self

)

Resets all motor encoders to the value of zero.

set_rotation()

def motor_group.MotorGroup.set_rotation	(		self,
			value,
			rotationUnits = RotationUnits.DEG
	)

Sets the value of all motor encoders 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 motor_group.MotorGroup.set_timeout	(		self,
			time,
			timeUnits = TimeUnits.SEC
	)

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

spin()

def motor_group.MotorGroup.spin	(		self,
			dir,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

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

Parameters

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

spin_with_voltage()

def motor_group.MotorGroup.spin_with_voltage	(		self,
			dir,
			voltage,
			voltageUnits = VoltageUnits.VOLT
	)

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

Parameters

dir	The direction to spin the motor.
voltage	Sets the amount of volts.
voltageUnits	The measurement unit for the voltage value. Optional, default is volts.

spin_to()

def motor_group.MotorGroup.spin_to	(		self,
			rotation,
			rotationUnits = RotationUnits.DEG,
			velocity = None,
			velocityUnits = VelocityUnits.PCT,
			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.
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_to_position()

def motor_group.MotorGroup.spin_to_position	(		self,
			rotation,
			rotationUnits = RotationUnits.DEG,
			velocity = None,
			velocityUnits = VelocityUnits.PCT,
			waitForCompletion = True
	)

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

Same as spinTo.

Parameters

rotation	The motor encoder's target rotation value
rotationUnits	A rotational unit type that defines how the previous value should be treated as.
velocity	Set the amount of velocity that the motor should use.
velocityUnits	Set what the motor should treat the previous velocity value as.
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.

Returns

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

spin_for()

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

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

Returns

True if motors have 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 motor_group.MotorGroup.spin_for_time	(		self,
			dir,
			time,
			timeUnits = TimeUnits.SEC,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

Turn on the motors and spin them for a given amount of time.

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, a TimeUnits enum value.
velocity	Sets the amount of velocity.
velocityUnits	The measurement unit for the velocity value, a VelocityUnits enum value.

start_spin_to()

def motor_group.MotorGroup.start_spin_to	(		self,
			rotation,
			rotationUnits = RotationUnits.DEG,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

Starts spinning motors to an absolute target rotation but does not wait for the motors 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_to_position()

def motor_group.MotorGroup.start_spin_to_position	(		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.

Same as startSpinTo

Parameters

rotation	This is the motor encoder's target rotation value
rotationUnits	This is a rotational unit type that defines how the previous value should be treated as.
velocity	Set the amount of velocity that the motor should use.
velocityUnits	Set what the motor should treat the previous velocity value as.

start_spin_for()

def motor_group.MotorGroup.start_spin_for	(		self,
			dir,
			rotation,
			rotationUnits = RotationUnits.DEG,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

Starts spinning motors to a relative target rotation but does not wait for the motors 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 motor_group.MotorGroup.is_spinning

(

self

)

Checks to see if a spin_for/spin_to command is still in process, i.e.

any motor is still rotating and hasn't yet reached its target position.

Returns

Returns a true Boolean if the motor is on and is running. Returns a false Boolean if the motor is off or braking.

is_done()

def motor_group.MotorGroup.is_done

(

self

)

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

Returns

False if any motor is on and is rotating to a target, True if all motors are done rotating to a target.

stop()

def motor_group.MotorGroup.stop	(		self,
			brakeType = None
	)

Stops all motors using the default brake mode.

Parameters

brakeType

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

set_max_torque()

def motor_group.MotorGroup.set_max_torque	(		self,
			value,
			torqueUnits = TorqueUnits.NM
	)

Sets the max torque of all motors.

Parameters

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

set_max_torque_percent()

def motor_group.MotorGroup.set_max_torque_percent	(		self,
			value
	)

Sets the max torque of all motors as a percentage.

Parameters

value

Sets the amount of torque (0 to 100%)

set_max_torque_current()

def motor_group.MotorGroup.set_max_torque_current	(		self,
			value
	)

Sets the max torque of all motors.

Parameters

value

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

direction()

def motor_group.MotorGroup.direction

(

self

)

Gets which direction the first motor is spinning.

Returns

Returns an integer that represents the direction that the motor is spinning.

rotation()

def motor_group.MotorGroup.rotation	(		self,
			rotationUnits = RotationUnits.DEG
	)

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

rotationUnits

The measurement unit for the rotation.

velocity()

def motor_group.MotorGroup.velocity	(		self,
			velocityUnits = VelocityUnits.PCT
	)

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

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 motor_group.MotorGroup.current

(

self

)

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

Returns

Returns a float that represents the electrical current of the motors.

power()

def motor_group.MotorGroup.power	(		self,
			powerUnits = PowerUnits.WATT
	)

Gets the power of the first motor.

Parameters

powerUnits

Returns

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

torque()

def motor_group.MotorGroup.torque	(		self,
			torqueUnits = TorqueUnits.NM
	)

Gets the torque of the first motor.

Parameters

torqueUnits

Defines the unit type of torque to be returned.

Returns

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

efficiency()

def motor_group.MotorGroup.efficiency	(		self,
			percentUnits = PercentUnits.PCT
	)

Gets the efficiency of the first motor.

Parameters

percentUnits

Defines the unit type of the efficiency value to be returned.

Returns

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

temperature()

def motor_group.MotorGroup.temperature	(		self,
			temperatureUnits = TemperatureUnits.CELSIUS
	)

Gets the temperature of the motor.

Parameters

temperatureUnits

Defines the unit type of the temperature value to be returned. Default Celsius.

Returns

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