vex.motor package

Motor.

class vex.motor.BrakeType(value)

Bases: IntEnum

Motor Brake Types.

ROBOT MESH PYTHON B:

The defined units for brake values.

robotmesh.com/studio/content/docs/vexiq-python_b/html/classvex_1_1_brake_type.html

BRAKE: int = 1

COAST: int = 0

HOLD: int = 2

class vex.motor.DirectionType(value)

Bases: IntEnum

Movement Direction Types.

ROBOT MESH PYTHON B:

The defined units for direction values.

robotmesh.com/studio/content/docs/vexiq-python_b/html/classvex_1_1_direction_type.html

FWD: int = 0

REV: int = 1

class vex.motor.Motor(index: Ports, reverse: bool = False)

Bases: Device

Motor.

ROBOT MESH PYTHON B:

robotmesh.com/studio/content/docs/vexiq-python_b/html/classvex_1_1_motor.html

current() → float

Return Motor’s Electrical Current.

ROBOT MESH PYTHON B:

Get the electrical current of the motor.

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

did_timeout() → bool

Return whether Motor timed out.

ROBOT MESH PYTHON B:

Return True if the last motor operation timed out.

is_done() → bool

Check if Motor has finished spinning.

ROBOT MESH PYTHON B:

Determine if 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.

is_spinning() → bool

Check if Motor is spinning.

ROBOT MESH PYTHON B:

Determine 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.

reset_rotation()

Reset Motor Rotation Value to 0.

ROBOT MESH PYTHON B:

Reset the motor’s encoder to the value of zero.

rotation(rotationUnits: RotationUnits = RotationUnits.DEG) → float

Return Motor’s cumulative Rotation Angle Value.

ROBOT MESH PYTHON B:

Get the current rotation of the motor’s encoder.

Parameters: rotationUnits: The measurement unit for the rotation.

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

set_max_torque(value: float, torqueUnits: TorqueUnits = TorqueUnits.NM)

Set Max Torque.

ROBOT MESH PYTHON B:

Set 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(value: float)

Set Max Torque Current.

ROBOT MESH PYTHON B:

Set the max torque of the motor.

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

set_max_torque_percent(value: float)

Set Max Torque Percent.

ROBOT MESH PYTHON B:

Set the max torque of the motor as a percentage.

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

set_reversed(is_reversed: bool)

Set Reversed Mode.

ROBOT MESH PYTHON B:

Set 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_rotation(value: float, rotationUnits: RotationUnits = RotationUnits.DEG)

Set Motor Rotation Value to specific value.

ROBOT MESH PYTHON B:

Set value of motor’s encoder to value specified in parameter.

Parameters: - value: Sets the amount of rotation. - rotationUnits: The measurement unit for the rotation,

a RotationUnits enum value.

set_stopping(brakeType: BrakeType)

Set Stopping Mode.

ROBOT MESH PYTHON B:

Set 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.

set_timeout(time: float, timeUnits: TimeUnits = TimeUnits.SEC)

Set Motor Timeout Threshold.

ROBOT MESH PYTHON B:

Set 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.

set_velocity(velocity: float, velocityUnits: VelocityUnits = VelocityUnits.PCT)

Set Velocity.

ROBOT MESH PYTHON B:

Set 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.

spin(dir: DirectionType, velocity: float, velocityUnits: VelocityUnits = VelocityUnits.PCT)

Spin Motor.

ROBOT MESH PYTHON B:

Turn 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_for(dir: DirectionType, rotation: float, rotationUnits: RotationUnits = RotationUnits.DEG, velocity: Optional[float] = None, velocityUnits: VelocityUnits = VelocityUnits.PCT, waitForCompletion: bool = True) → bool

Spin Motor for a certain Rotation Angle Value.

ROBOT MESH PYTHON B:

Turn on the motor and spins it.

(to a relative target rotation value at a specified velocity)

Parameters: - dir: The direction to spin the motor, DirectionType enum value. - 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.

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

spin_for_time(dir: DirectionType, time: str, timeUnits: TimeUnits = TimeUnits.SEC, velocity: Optional[float] = None, velocityUnits: VelocityUnits = VelocityUnits.PCT)

Spin Motor for a certain Time Duration.

ROBOT MESH PYTHON B:

Turn 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.

spin_to(rotation: float, rotationUnits: RotationUnits = RotationUnits.DEG, velocity: Optional[float] = None, velocityUnits: VelocityUnits = VelocityUnits.PCT, waitForCompletion: bool = True) → bool

Spin Motor to target Rotation Angle Value.

ROBOT MESH PYTHON B:

Turn on the motor and spins it.

(to an absolute target rotation value at a specified velocity)

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.

start_spin_for(dir: DirectionType, rotation: float, rotationUnits: RotationUnits = RotationUnits.DEG, velocity: Optional[float] = None, velocityUnits: VelocityUnits = VelocityUnits.PCT)

Start spinning motor for a certain Rotation Angle Value.

ROBOT MESH PYTHON B:

Start 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.

start_spin_to(rotation: float, rotationUnits: RotationUnits = RotationUnits.DEG, velocity: Optional[float] = None, velocityUnits: VelocityUnits = VelocityUnits.PCT)

Start spinning Motor to a certain Target Rotation Angle Value.

ROBOT MESH PYTHON B:

Start spinning a motor.

(to an absolute target rotation but does not wait for the motor to reach that target)

Params: - 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.

stop(brakeType: Optional[BrakeType] = None)

Stop Motor.

ROBOT MESH PYTHON B:

Stop the motor using the default brake mode.

Parameters: - brakeType: The brake mode can be set to

BrakeType.COAST, BRAKE, or HOLD.

timeout(timeUnits: TimeUnits = TimeUnits.SEC) → float

Return Motor Timeout.

ROBOT MESH PYTHON B:

Return a timeout in given time units.

velocity(velocityUnits: VelocityUnits = VelocityUnits.PCT) → float

Return Motor’s Velocity.

ROBOT MESH PYTHON B:

Get the current velocity of the motor.

Parameters: - velocityUnits: The measurement unit for the velocity.

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

class vex.motor.TorqueUnits(value)

Bases: IntEnum

Torque Units.

ROBOT MESH PYTHON B:

The measurement units for torque values.

robotmesh.com/studio/content/docs/vexiq-python_b/html/classvex_1_1_torque_units.html

IN_LB: int = 1

NM: int = 0

PCT: int = 2

class vex.motor.TurnType(value)

Bases: IntEnum

Movement Turn Types.

ROBOT MESH PYTHON B:

Left or right turn.

robotmesh.com/studio/content/docs/vexiq-python_b/html/classvex_1_1_turn_type.html

LEFT: int = 0

RIGHT: int = 1

class vex.motor.VelocityUnits(value)

Bases: IntEnum

Velocity Units.

ROBOT MESH PYTHON B:

The measurement units for velocity values.

robotmesh.com/studio/content/docs/vexiq-python_b/html/classvex_1_1_velocity_units.html

DPS: int = 2

PCT: int = 0

RAW: int = 99

RPM: int = 1

Submodules

• vex.motor.brake_type module
• vex.motor.direction_type module
• vex.motor.torque_units module
• vex.motor.turn_type module
• vex.motor.velocity_units module