vex.Motor Class Reference

Inherits vex.Device.

Public Member Functions
def	__init__ (self, index, gearSetting=GearSetting.RATIO18_1, reverse=False)
	Creates a new motor object on the port specified. More...
def	set_reversed (self, isReversed)
	Use this function to reverse setting for the motor. 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)
	Return the timeout for the motor. More...
def	did_timeout (self)
	Check if the last motor operation timed out. More...
def	spin (self, direction, velocity=None, velocityUnits=VelocityUnits.PCT)
	Turns on the motor and spins it in a specified direction and velocity (if specified). More...
def	spin_with_voltage (self, direction, voltage, voltageUnits=VoltageUnits.VOLT)
	Turns on the motor and spins it 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 motor and spins it 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 motor and spins it to an absolute target rotation value at a specified velocity. More...
def	spin_for (self, direction, 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, direction, time, timeUnits=TimeUnits.SEC, velocity=None, velocityUnits=VelocityUnits.PCT)
	Turns on the motor and spins it for specified time 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_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, direction, 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)
	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 the motor using a specified brake mode (or default mode if not specified). More...
def	set_max_torque (self, value, torqueUnits=TorqueUnits.NM)
	Sets the max torque of the motor, in torque units. More...
def	set_max_torque_percent (self, value, percentUnits=PercentUnits.PCT)
	Sets the max torque of the motor, in percent. More...
def	set_max_torque_current (self, value, currentUnits=CurrentUnits.AMP)
	Sets the max torque of the motor, in terms of current. More...
def	direction (self)
	Gets which direction the motor is spinning. 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, currentUnits=CurrentUnits.AMP)
	Gets the electrical current of the motor. More...
def	voltage (self, voltageUnits=VoltageUnits.VOLT)
	Gets the electrical voltage being applied to the motor. More...
def	power (self, powerUnits=PowerUnits.WATT)
	Gets the power of the motor. More...
def	torque (self, torqueUnits=TorqueUnits.NM)
	Gets the torque of the motor. More...
def	efficiency (self, percentUnits=PercentUnits.PCT)
	Gets the efficiency of the motor. More...
def	temperature (self, temperatureUnits=TemperatureUnits.CELSIUS)
	Gets the temperature of the motor. More...
def	type (self)
	Get the device type. More...
def	installed (self)
	Gets the status of what is installed. More...
def	value (self)

Constructor & Destructor Documentation

__init__()

def vex.Motor.__init__	(		self,
			index,
			gearSetting = GearSetting.RATIO18_1,
			reverse = False
	)

Creates a new motor object on the port specified.

Parameters

index	The port index for this motor. The index is zero based.
gearSetting	Sets the gears setting for the new motor object.
reverse	Sets the reverse flag for the new motor object.

Member Function Documentation

set_reversed()

def vex.Motor.set_reversed	(		self,
			isReversed
	)

Use this function to reverse setting for the motor.

Parameters

isReversed

If set to true, the motor will spin in the reversed 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	Set the amount of velocity that the motor should use.
velocityUnits	Set what the motor should treat the previous velocity value as.

set_stopping()

def vex.Motor.set_stopping	(		self,
			brakeType
	)

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

Parameters

brakeType

The stopping mode can be set to 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	The value of what you want the motor's encoder to be set to.
rotationUnits	A rotational unit type that defines how the previous value should be treated as.

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 turn off.

Parameters

time	The value of the time out expiration.
timeUnits	A time unit that defines how to treat the previous value.

timeout()

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

Return the timeout for the motor.

did_timeout()

def vex.Motor.did_timeout

(

self

)

Check if the last motor operation timed out.

Returns

True if the last operation timed out

spin()

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

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

Parameters

direction	Spin the motor forward by passing FWD, or spin the motor backward by passing REV.
velocity	Set the amount of velocity that the motor should use. Optional.
velocityUnits	Set what the motor should treat the previous velocity value as. Optional.

spin_with_voltage()

def vex.Motor.spin_with_voltage	(		self,
			direction,
			voltage,
			voltageUnits = VoltageUnits.VOLT
	)

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

Parameters

direction	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 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.

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_to_position()

def vex.Motor.spin_to_position	(		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.

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 vex.Motor.spin_for	(		self,
			direction,
			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.

Parameters

direction	Direction to spin in, vex.DirectionType.FWD or REV.
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_time()

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

Turns on the motor and spins it for specified time at a specified velocity.

Parameters

direction	Direction to spin in, vex.DirectionType.FWD or REV.
time	The value of time that the motor should spin for.
timeUnits	A time unit that defines how to treat the previous value.
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_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	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_to_position()

def vex.Motor.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 vex.Motor.start_spin_for	(		self,
			direction,
			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

direction	Direction to spin in, vex.DirectionType.FWD or REV.
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.

is_spinning()

def vex.Motor.is_spinning

(

self

)

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

the 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 vex.Motor.is_done

(

self

)

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

Returns

If the function returns true, then the motor is done with the action.

stop()

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

Stops the motor using a specified brake mode (or default mode if not specified).

set_max_torque()

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

Sets the max torque of the motor, in torque units.

Parameters

value	The value that the motor's max torque should be set to.
torqueUnits	torque units, default Nm

set_max_torque_percent()

def vex.Motor.set_max_torque_percent	(		self,
			value,
			percentUnits = PercentUnits.PCT
	)

Sets the max torque of the motor, in percent.

Parameters

value	The value that the motor's max torque should be set to.
percentUnits	percent units (percent).

set_max_torque_current()

def vex.Motor.set_max_torque_current	(		self,
			value,
			currentUnits = CurrentUnits.AMP
	)

Sets the max torque of the motor, in terms of current.

Parameters

value	The value that the motor's max torque should be set to.
currentUnits	current units (amps).

direction()

def vex.Motor.direction

(

self

)

Gets which direction the motor is spinning.

Returns

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

rotation()

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

Gets the current rotation of the motor's encoder.

Parameters

rotationUnits

Defines what the unity type of the value of rotation that is returned.

Returns

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

velocity()

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

Gets the current velocity of the motor.

Parameters

velocityUnits

Defines the unit type of the velocity value returned.

Returns

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

current()

def vex.Motor.current	(		self,
			currentUnits = CurrentUnits.AMP
	)

Gets the electrical current of the motor.

Parameters

currentUnits

Defines the unit type of the electrical current value that is returned.

Returns

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

voltage()

def vex.Motor.voltage	(		self,
			voltageUnits = VoltageUnits.VOLT
	)

Gets the electrical voltage being applied to the motor.

Parameters

voltageUnits

The measurement unit for the voltage.

Returns

Returns a the electrical voltage of the motor in the units defined in the parameter.

power()

def vex.Motor.power	(		self,
			powerUnits = PowerUnits.WATT
	)

Gets the power of the motor.

Parameters

powerUnits

Returns

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

torque()

def vex.Motor.torque	(		self,
			torqueUnits = TorqueUnits.NM
	)

Gets the torque of the 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 vex.Motor.efficiency	(		self,
			percentUnits = PercentUnits.PCT
	)

Gets the efficiency of the 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 vex.Motor.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.

type()

def vex.Device.type (   self )

inherited

Get the device type.

Returns

V5DeviceType enum value

installed()

def vex.Device.installed (   self )

inherited

Gets the status of what is installed.

Returns

Returns a true Boolean if the triport is installed. Returns a false Boolean if the triport is not installed.

value()

def vex.Device.value (   self )

inherited