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| | <yambe:breadcrumb>ARDUINO_MEGA_Functions_and_Variables|Functions and Variables</yambe:breadcrumb> | | <yambe:breadcrumb>ARDUINO_MEGA_Functions_and_Variables|Functions and Variables</yambe:breadcrumb> |
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| − | {|
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| − | |''For more examples and explanations, head over to [[VEX2_Motors_and_Servos_Overview|Motors and Servos Overview]]!''
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| − | |Up to 8 motors and/or servos can be connected to the VEX controller. Motor speeds range from -127 (full reverse) through zero (stopped) up to +127 (full forward). There is a small deadband in the motors from about +15 to -15
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| − | |}
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| | |<syntaxhighlight lang="robotc"> | | |<syntaxhighlight lang="robotc"> |
| − | bMotorReflected[port1] = true; // motor 1 WILL be reflected 180 degrees | + | bMotorReflected[motor_2] = true; // motor 1 WILL be reflected 180 degrees |
| − | bMotorReflected[port1] = false; // motor 1 will NOT be reflected 180 degrees | + | bMotorReflected[motor_2] = false; // motor 1 will NOT be reflected 180 degrees |
| − | </syntaxhighlight>
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| − | |}
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| − | |}
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| − | <br />
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| − | == getEncoderForMotor ==
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| − | {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
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| − | | class="functionType"| <span class="bigKeywordBI">tSensors </span><span class="bigKeywordB">getEncoderForMotor</span><span class="bigCodePunc">(</span><span class="bigCodeBasic">tMotor motorIndex</span><span class="bigCodePunc">)</span>
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| − | | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_tSensors|tSensors]]) Returns the sensor port of the encoder paired to motor port, <span class="codeBasic">motorIndex</span>.
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| − | <br />
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| − | {| class="parameterTable" cellpadding="5%" width="100%"
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| − | ! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
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| − | ! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
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| − | ! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
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| − | | style="border-style: solid; border-width: 1px 0px 0px 0px"|''motorIndex''
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| − | | style="border-style: solid; border-width: 1px 0px 0px 0px"|A motor port or name
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| − | | style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tMotor|tMotor]]
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| − | |}
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| − | <br />
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| − | {|
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| − | |<syntaxhighlight lang="robotc">
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| − | int valueOfEncoder; // set 'valueOfEncoder' to the value...
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| − | valueOfEncoder = SensorValue(getEncoderForMotor(port1)); // ...returned by the encoder paired to port1
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| − | </syntaxhighlight>
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| − | |}
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| − | |}
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| − | <br />
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| − | == mapEncoderToMotor ==
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| − | {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
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| − | | class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">mapEncoderToMotor</span><span class="bigCodePunc">(</span><span class="bigCodeBasic">tMotor motorPort</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors I2CPort</span><span class="bigCodePunc">)</span>
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| − | | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) Map an I2C sensor port to the motor it belongs to (when using VEX Integrated Encoder Modules).<br />
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| − | ''This is taken care of in the Motors and Sensors Setup window.''
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| − | <br />
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| − | {| class="parameterTable" cellpadding="5%" width="100%"
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| − | ! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
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| − | ! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
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| − | ! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
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| − | | style="border-style: solid; border-width: 1px 0px 1px 0px"|''motorPort''
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| − | | style="border-style: solid; border-width: 1px 0px 1px 0px"|A motor port or name
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| − | | style="border-style: solid; border-width: 1px 0px 1px 0px"|[[Data_Types#dataType_tMotor|tMotor]]
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| − | | style="border-style: solid; border-width: 0px 0px 0px 0px"|''I2CPort''
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| − | | style="border-style: solid; border-width: 0px 0px 0px 0px"|An I2C sensor port or name
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| − | | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[Data_Types#dataType_tSensors|tSensors]]
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| − | |}
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| − | <br />
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| − | {|
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| − | |<syntaxhighlight lang="robotc">
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| − | mapEncoderToMotor(port1, I2C_1); // map the encoder in I2C port 'I2C_1' to motor in port 'port1'
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| | </syntaxhighlight> | | </syntaxhighlight> |
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| | |<syntaxhighlight lang="robotc"> | | |<syntaxhighlight lang="robotc"> |
| − | motor[port1] = 127; // motor 1 is given a power level of 127 (forward) | + | motor[motor_2] = 127; // motor pin 2 is given a power level of 127 (forward) |
| − | motor[port1] = -127; // motor 1 is given a power level of -127 (reverse) | + | motor[motor_2] = -127; // motor pin 2 is given a power level of -127 (reverse) |
| − | </syntaxhighlight>
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| − | |}
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| − | |}
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| − | <br />
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| − | == motorType ==
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| − | {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
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| − | | class="variableType"| <span class="bigKeywordBI">word </span><span class="bigKeywordB">motorType</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tMotor motor</span><span class="bigCodePunc">]</span>
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| − | | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]]) An array variable with one element for each of the possible motors. This command is used to read/write the type of the motor in question.
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| − | {| class="parameterTable" cellpadding="5%" width="100%"
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| − | ! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
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| − | ! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
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| − | ! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
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| − | | style="border-style: solid; border-width: 1px 0px 0px 0px"|''motor''
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| − | | style="border-style: solid; border-width: 1px 0px 0px 0px"|A motor port or name
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| − | | style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tMotor|tMotor]]
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| − | |}
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| − | {|
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| − | |<syntaxhighlight lang="robotc">
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| − | motorType[port1] = tmotorVex393HighSpeed; // set motor in 'port1' to type 'tmotorVex393HighSpeed'
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| | </syntaxhighlight> | | </syntaxhighlight> |
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