motor module

motor.alloff()

Turns all motors off.

See also

ao

motor.ao()

Turns all motors off.

See also

alloff

motor.bk(motor)

Moves the given motor backward at full power.

Parameters:

motor (int) – The motor’s port.

motor.block_motor_done(motor)

Wait until the motor is at its goal.

Parameters:

motor (int) – The motor port.

See also

bmd

motor.bmd(motor)

Wait until the motor is at its goal.

Parameters:

motor (int) – The motor port.

See also

block_motor_done

motor.clear_motor_position_counter(motor)

Clears the motor position counter.

Parameters:

motor (int) – The motor port.

See also

cmpc

motor.cmpc(motor)

Clears the motor position counter.

Parameters:

motor (int) – The motor port.

See also

clear_motor_position_counter

motor.fd(motor)

Moves the given motor forward at full power.

Parameters:

motor (int) – The motor’s port.

motor.freeze(motor)

Active braking to stop a motor.

Parameters:

motor (int) – The motor port.

Returns:

1 if at goal, 0 if not at goal.

Return type:

int

motor.get_motor_done(motor)

Check if the motor has reached its goal.

Parameters:

motor (int) – The motor port.

Returns:

1 if at goal, 0 if not at goal.

Return type:

int

motor.get_motor_position_counter(motor)

Gets the current motor position.

Parameters:

motor (int) – The motor port.

See also

gmpc

motor.get_pid_gains(motor, p, i, d, pd, id, dd)

Get the motor PID gains, represented as fractions.

Parameters:

  • motor (int) – The motor port.

  • p (short) – The P (proportional) gain numerator.

  • i (short) – The I (integral) gain numerator.

  • d (short) – The D (derivative) gain numerator.

  • pd (short) – The P (proportional) gain denominator.

  • id (short) – The I (integral) gain denominator.

  • dd (short) – The D (derivative) gain denominator.

motor.getpwm(motor)

Get the current motor PWM command.

Parameters:

motor (int) – The motor port.

motor.gmpc(motor)

Gets the current motor position.

Parameters:

motor (int) – The motor port.

See also

get_motor_position_counter

motor.mav(motor, velocity)

Set a goal velocity in ticks per second.

Parameters:

  • motor (int) – The motor port.

  • velocity (int) – The goal velocity in -1500 to 1500 ticks/second.

See also

move_at_velocity

motor.motor(motor, percent)

Moves a motor at a percent velocity.

Parameters:

  • motor (int) – The motor port.

  • percent (int) – The percent of the motor’s velocity, between -100 and 100.

motor.motor_power(motor, percent)

Moves a motor at a percent power.

Parameters:

  • motor (int) – The motor port.

  • percent (int) – The power of the motor, between -100 and 100.

motor.move_at_velocity(motor, velocity)

Set a goal velocity in ticks per second. The range is -1500 to 1500, though motor position accuracy may be decreased outside of -1000 to 1000.

Parameters:

  • motor (int) – The motor port.

  • velocity (int) – The goal velocity in -1500 to 1500 ticks/second.

See also

mav

motor.move_relative_position(motor, speed, delta_pos)

Set a goal position (in ticks) for the motor to move to, relative to the current position.

Parameters:

  • motor (int) – The motor port.

  • speed (int) – The speed to move at, between -1500 and 1500 ticks/second.

  • delta_pos (int) – The position to move to (in ticks) given the current position.

See also

mrp

motor.move_to_position(motor, speed, goal_pos)

Set a goal position (in ticks) for the motor to move to. There are approximately 1500 ticks per motor revolution. This function is more accurate if speeds between -1000 and 1000 are used.

Parameters:

  • motor (int) – The motor port.

  • speed (int) – The speed to move at, between -1500 and 1500 ticks/second.

  • goal_pos (int) – The position to move to (in ticks).

See also

mtp

motor.mrp(motor, speed, delta_pos)

Set a goal position (in ticks) for the motor to move to, relative to the current position.

Parameters:

  • motor (int) – The motor port.

  • speed (int) – The speed to move at, between -1500 and 1500 ticks/second.

  • delta_pos (int) – The position to move to (in ticks) given the current position.

See also

move_relative_position

motor.mtp(motor, speed, goal_pos)

Set a goal position (in ticks) for the motor to move to.

Parameters:

  • motor (int) – The motor port.

  • speed (int) – The speed to move at, between -1500 and 1500 ticks/second.

  • goal_pos (int) – The position to move to (in ticks).

See also

move_to_position

motor.off(motor)

Turns the specified motor off.

Parameters:

motor (int) – The motor’s port.

motor.set_pid_gains(motor, p, i, d, pd, id, dd)

Set the motor PID gains, represented as fractions.

Parameters:

  • motor (int) – The motor port.

  • p (short) – The P (proportional) gain numerator.

  • i (short) – The I (integral) gain numerator.

  • d (short) – The D (derivative) gain numerator.

  • pd (short) – The P (proportional) gain denominator.

  • id (short) – The I (integral) gain denominator.

  • dd (short) – The D (derivative) gain denominator.

motor.setpwm(motor, pwm)

Set the motor PWM (percent power) command.

Parameters:

  • motor (int) – The motor port.

  • pwm (int) – A new motor PWM command between 0 and 100.