vexiq.Motor Class Reference

Config Motor with power setting and distance encoder More...

Public Member Functions
def	__init__ (self, port=None, switch_polarity=False)
def	off (self)
	Turn off motor. More...
def	brake (self)
	Brake motor. More...
def	hold (self)
	Hold motor. More...
def	run (self, power, distance=None, hold=False)
	Begin running at the given power. More...
def	run_until (self, power, distance, hold=False)
	Run at a given power until the given distance is reached. More...
def	run_raw (self, power_raw, distance_ticks=None, hold=False)
	Begin running at given raw power, with distance in ticks. More...
def	run_raw_until (self, power, distance_ticks, hold=False)
	Run at a given raw power until the given distance is reached. More...
def	run_to_position (self, power, position, hold=False)
	Begin running the motor until it reaches an absolute position. More...
def	run_until_position (self, power, position, hold=False)
	Run the motor until it reaches an absolute position. More...
def	run_time (self, power, time, hold=False)
	Begin running at given power for given time. More...
def	run_until_time (self, power, time, hold=False)
	Run at given power until given time is reached. More...
def	reached_target (self)
	True if the motor reached the target, False otherwise. More...
def	stalled (self)
	True if motor has stalled (did not change position) for the duration set in the motor.stall_timeout field. More...
def	reached_target_or_stalled (self)
	True if motor reached the target or stalled (did not change position) for the duration set in the motor.stall_timeout field. More...
def	position (self)
	Get the current motor position in degrees. More...
def	position_ticks (self)
	Get the current motor position in ticks, 960 per full rotation. More...
def	reset_position (self)
	Reset the motor position to zero. More...
def	velocity (self)
	Get the current motor velocity. More...
def	current (self)
	Get the electrical current. More...
def	set_max_current (self, current)
	Set the maximum current setting. More...

Public Attributes
	stall_timeout

Detailed Description

Config Motor with power setting and distance encoder

Parameters

port	1-12, None to autodetect. Default None.
switch_polarity	True to reverse polarity (direction). Default False.

Constructor & Destructor Documentation

__init__()

def vexiq.Motor.__init__	(		self,
			port = None,
			switch_polarity = False
	)

Member Function Documentation

off()

def vexiq.Motor.off

(

self

)

Turn off motor.

brake()

def vexiq.Motor.brake

(

self

)

Brake motor.

hold()

def vexiq.Motor.hold

(

self

)

Hold motor.

run()

def vexiq.Motor.run	(		self,
			power,
			distance = None,
			hold = False
	)

Begin running at the given power.

Parameters

power	-100.0...100.0 (percent power).
distance	distance in degrees
hold	if True, hold motor when destination is reached

run_until()

def vexiq.Motor.run_until	(		self,
			power,
			distance,
			hold = False
	)

Run at a given power until the given distance is reached.

Parameters

power	-100.0...100.0 (percent power).
distance	distance in degrees
hold	if True, hold motor when destination is reached

Returns

True if the motor reached the target, False if stalled

run_raw()

def vexiq.Motor.run_raw	(		self,
			power_raw,
			distance_ticks = None,
			hold = False
	)

Begin running at given raw power, with distance in ticks.

Parameters

power_raw	-127...127
distance_ticks	distance in ticks, 960 per full rotation
hold	if True, hold motor when destination is reached

run_raw_until()

def vexiq.Motor.run_raw_until	(		self,
			power,
			distance_ticks,
			hold = False
	)

Run at a given raw power until the given distance is reached.

Parameters

power	-100.0...100.0 (percent power).
distance_ticks	distance in ticks, 960 per full rotation
hold	if True, hold motor when destination is reached

Returns

True if the motor reached the target, False if stalled

run_to_position()

def vexiq.Motor.run_to_position	(		self,
			power,
			position,
			hold = False
	)

Begin running the motor until it reaches an absolute position.

Parameters

power	0...100.0 (percent power).
position	absolute target position in degrees
hold	if True, hold motor when destination is reached

run_until_position()

def vexiq.Motor.run_until_position	(		self,
			power,
			position,
			hold = False
	)

Run the motor until it reaches an absolute position.

Parameters

power	0...100.0 (percent power).
position	absolute target position in degrees
hold	if True, hold motor when destination is reached

Returns

True if the motor reached the target, False if stalled

run_time()

def vexiq.Motor.run_time	(		self,
			power,
			time,
			hold = False
	)

Begin running at given power for given time.

Parameters

power	-100.0...100.0 (percent power).
time	time to run in seconds
hold	if True, hold motor when destination is reached

run_until_time()

def vexiq.Motor.run_until_time	(		self,
			power,
			time,
			hold = False
	)

Run at given power until given time is reached.

Parameters

power	-100.0...100.0 (percent power).
time	time to run in seconds
hold	if True, hold motor when destination is reached

Returns

True if the motor reached the target, False if stalled

reached_target()

def vexiq.Motor.reached_target

(

self

)

True if the motor reached the target, False otherwise.

Returns

bool

stalled()

def vexiq.Motor.stalled

(

self

)

True if motor has stalled (did not change position) for the duration set in the motor.stall_timeout field.

Returns

bool

reached_target_or_stalled()

def vexiq.Motor.reached_target_or_stalled

(

self

)

True if motor reached the target or stalled (did not change position) for the duration set in the motor.stall_timeout field.

Returns

bool

position()

def vexiq.Motor.position

(

self

)

Get the current motor position in degrees.

Returns

number

position_ticks()

def vexiq.Motor.position_ticks

(

self

)

Get the current motor position in ticks, 960 per full rotation.

Returns

number

reset_position()

def vexiq.Motor.reset_position

(

self

)

Reset the motor position to zero.

velocity()

def vexiq.Motor.velocity

(

self

)

Get the current motor velocity.

Returns

number

current()

def vexiq.Motor.current

(

self

)

Get the electrical current.

Returns

number

set_max_current()

def vexiq.Motor.set_max_current	(		self,
			current
	)

Set the maximum current setting.

Parameters

current

maximum current

Member Data Documentation

stall_timeout

vexiq.Motor.stall_timeout