| For more examples and explanations, head over to 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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bMotorReflected
| bool bMotorReflected
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| (bool) Boolean array with one entry for each motor. Indicates that the direction of a motor should be reflected 180 degrees. Useful when mechanical design results in a logical "reversed" condition of a motor.
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bMotorReflected[port1] = true; // motor 1 WILL be reflected 180 degrees
bMotorReflected[port1] = false; // motor 1 will NOT be reflected 180 degrees |
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getEncoderForMotor
| tSensors getEncoderForMotor(tMotor motorIndex)
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| (tSensors) Returns the sensor port of the encoder paired to motor port, motorIndex.
| Parameter
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Explanation
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Data Type
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| motorIndex
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A motor port or name
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tMotor
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int valueOfEncoder; // set 'valueOfEncoder' to the value...
valueOfEncoder = SensorValue(getEncoderForMotor(port1)); // ...returned by the encoder paired to port1 |
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mapEncoderToMotor
| void mapEncoderToMotor(tMotor motorPort, tSensors I2CPort)
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(void) Map an I2C sensor port to the motor it belongs to (when using VEX Integrated Encoder Modules).
This is taken care of in the Motors and Sensors Setup window.
| Parameter
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Explanation
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Data Type
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| motorPort
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A motor port or name
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tMotor
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| I2CPort
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An I2C sensor port or name
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tSensors
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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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motor
| int motor[tMotor motor]
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| (int) An array variable with one element for each of the possible motors. This command is used to set the speed (-127 to +127) for a motor. Negative values are reverse; positive forward. Zero is stopped. To drive the motor on port1 at 50% of full power you use the statement motor[port1] = 63;
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| Parameter
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Explanation
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Data Type
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| motor
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A motor port or name
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tMotor
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motor[port1] = 127; // motor 1 is given a power level of 127 (forward)
motor[port1] = -127; // motor 1 is given a power level of -127 (reverse) |
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motorType
| word motorType[tMotor motor]
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| (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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| Parameter
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Explanation
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Data Type
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| motor
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A motor port or name
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tMotor
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motorType[port1] = tmotorVex393HighSpeed; // set motor in 'port1' to type 'tmotorVex393HighSpeed' |
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