VEX2 Functions Motors and Servos

CORTEX → Functions and Variables → Motors and Sensors

For more examples and explanations, head over to Motors and Servos Overview!

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

Color Key Function: Variable:

bMotorReflected

bool bMotorReflected

(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.

bMotorReflected[port1] = true; // motor 1 WILL be reflected 180 degrees bMotorReflected[port1] = false; // motor 1 will NOT be reflected 180 degrees

getEncoderForMotor

tSensors getEncoderForMotor(tMotor motorIndex)

(tSensors) Returns the sensor port of the encoder paired to motor port, motorIndex. Parameter Explanation Data Type motorIndex A motor port or name tMotor int valueOfEncoder; // set 'valueOfEncoder' to the value... valueOfEncoder = SensorValue(getEncoderForMotor(port1)); // ...returned by the encoder paired to port1

mapEncoderToMotor

void mapEncoderToMotor(tMotor motorPort, tSensors I2CPort)

(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 Explanation Data Type motorPort A motor port or name tMotor I2CPort An I2C sensor port or name tSensors mapEncoderToMotor(port1, I2C_1); // map the encoder in I2C port 'I2C_1' to motor in port 'port1'

motor

int motor[tMotor motor]

(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;

Parameter Explanation Data Type motor A motor port or name tMotor

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)

motorType

word motorType[tMotor motor]

(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.

Parameter Explanation Data Type motor A motor port or name tMotor

motorType[port1] = tmotorVex393HighSpeed; // set motor in 'port1' to type 'tmotorVex393HighSpeed'