Wheel - Module:Motor

Motor

This file contains procedures to control EV3 or Powered Up motors.

Constants

The motor module.

Source: lib/modules/motor.whl, line: 10

MODULE_MOTOR

Module calls to control the motors.

Source: lib/modules/motor.whl, line: 13

MOTOR_SET_TYPE	0
MOTOR_SET_SPEED	1
MOTOR_SET_BRAKE	2
MOTOR_GET_TYPE	3
MOTOR_RESET	4
MOTOR_REVERSE	5
MOTOR_MOVE_TO	6
MOTOR_MOVE_TO_BITS	7
MOTOR_ON	8
MOTOR_TIME_ON	9
MOTOR_STOP	10
MOTOR_READ	11
MOTOR_READY	12
MOTOR_READY_BITS	13
MOTOR_THRESHOLD	14

Motor types.

Source: lib/modules/motor.whl, line: 30

MOTOR_MEDIUM	7
MOTOR_LARGE	8

The motor outputs, OUTPUT_E and OUTPUT_F can only be used for Spike.

Source: lib/modules/motor.whl, line: 34

OUTPUT_A	0
OUTPUT_B	1
OUTPUT_C	2
OUTPUT_D	3
OUTPUT_E	4
OUTPUT_F	5

Bits to identify the motor combinations for ready or to move multiple motors to a given position.

Source: lib/modules/motor.whl, line: 42

MOTOR_BITS_A	0b0001
MOTOR_BITS_B	0b0010
MOTOR_BITS_AB	0b0011
MOTOR_BITS_C	0b0100
MOTOR_BITS_AC	0b0101
MOTOR_BITS_BC	0b0110
MOTOR_BITS_ABC	0b0111
MOTOR_BITS_D	0b1000
MOTOR_BITS_AD	0b1001
MOTOR_BITS_BD	0b1010
MOTOR_BITS_ABD	0b1011
MOTOR_BITS_CD	0b1100
MOTOR_BITS_ACD	0b1101
MOTOR_BITS_BCD	0b1110
MOTOR_BITS_ABCD	0b1111

Brake or coast the motor.

Source: lib/modules/motor.whl, line: 59

MOTOR_COAST	0
MOTOR_BRAKE	1

Procedures

motorLayerSetType

Source: lib/modules/motor.whl, line: 63

Set the motor type.

proc motorLayerSetType(number layer, number id, number type)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
type	number	The type of motor: MOTOR_MEDIUM or MOTOR_LARGE.

motorLayerSetSpeed

Source: lib/modules/motor.whl, line: 72

Set the motor speed.

proc motorLayerSetSpeed(number layer, number id, number speed)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
speed	number	The speed of the motor. The value must be between -100 and 100 where negative values mean a reverse direction.

motorLayerSetBrake

Source: lib/modules/motor.whl, line: 81

Set the motor brake or coast: 0 = coast, 1 = brake. The default value is 1 (brake).

proc motorLayerSetBrake(number layer, number id, number brake)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
brake	number

motorLayerGetType

Source: lib/modules/motor.whl, line: 89

Get the connected motor type.

proc motorLayerGetType(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorLayerReset

Source: lib/modules/motor.whl, line: 97

Reset the tacho count for the motor.

proc motorLayerReset(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorLayerReverse

Source: lib/modules/motor.whl, line: 105

Reverse the motor move to direction.

proc motorLayerReverse(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorLayerMoveTo

Source: lib/modules/motor.whl, line: 113

Move the motor to a given target angle.

proc motorLayerMoveTo(number layer, number id, number target)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
target	number	The target angle.

motorLayerMoveToBits

Source: lib/modules/motor.whl, line: 122

Move the motors to a given target angle. This procedure is not implemented in the EV3 VM.

proc motorLayerMoveToBits(number layer, number bits, number target)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
bits	number	The motor bits, the first bit is motor A, the second motor B, etc. Checking motor A and C: 0b0101
target	number	The target angle.

motorLayerOn

Source: lib/modules/motor.whl, line: 131

Turn the motor on.

proc motorLayerOn(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorLayerTimeOn

Source: lib/modules/motor.whl, line: 139

Turn the motor on for a given time.

proc motorLayerTimeOn(number layer, number id, number time)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
time	number	Time in milliseconds.

motorLayerStop

Source: lib/modules/motor.whl, line: 148

Stop the motor.

proc motorLayerStop(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorLayerRead

Source: lib/modules/motor.whl, line: 156

Read a motor position.

proc motorLayerRead(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

Return: The current motor position in degrees.

motorLayerReady

Source: lib/modules/motor.whl, line: 165

Check if a motor reached its target.

proc motorLayerReady(number layer, number id)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorLayerReadyBits

Source: lib/modules/motor.whl, line: 173

Check if one or more motors reached their target.

proc motorLayerReadyBits(number layer, number bits)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
bits	number	The motor bits, the first bit is motor A, the second motor B, etc. Checking motor A and C: 0b0101

motorLayerThreshold

Source: lib/modules/motor.whl, line: 181

Set the threshold for the motor to reach the given angle, this proc only applies to Powered Up.

proc motorLayerThreshold(number layer, number id, number threshold)

Parameters:

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
threshold	number	The threshold, if the difference in degrees between the motor target and position is less than this value then the motor ready status returns TRUE.

motorSetType

Source: lib/modules/motor.whl, line: 191

Set the motor type for the main device.

proc motorSetType(number id, number type)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
type	number	The type of motor: MOTOR_MEDIUM or MOTOR_LARGE.

motorSetSpeed

Source: lib/modules/motor.whl, line: 198

Set the motor speed for the main device.

proc motorSetSpeed(number id, number speed)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
speed	number	The speed of the motor. The value must be between -100 and 100 where negative values mean a reverse direction.

motorSetBrake

Source: lib/modules/motor.whl, line: 205

Set the motor brake or coast for the main device: 0 = coast, 1 = brake. The default value is 1 (brake).

proc motorSetBrake(number id, number brake)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
brake	number

motorGetType

Source: lib/modules/motor.whl, line: 211

Get the connected motor type.

proc motorGetType(number id)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

Return: The type of motor connected to the primary device.

motorReset

Source: lib/modules/motor.whl, line: 218

Reset the tacho count for the motor for the main device.

proc motorReset(number id)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorReverse

Source: lib/modules/motor.whl, line: 224

Reverse the motor move to direction.

proc motorReverse(number layer, number id)

Parameters:

Name	Type	Description
layer	number
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorMoveTo

Source: lib/modules/motor.whl, line: 230

Move the motor to a given target angle for the main device.

proc motorMoveTo(number id, number target)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
target	number	The target angle.

motorMoveToBits

Source: lib/modules/motor.whl, line: 237

Move the motor to a given target angle. This procedure is not implemented in the EV3 VM.

proc motorMoveToBits(number bits, number target)

Parameters:

Name	Type	Description
bits	number	The motor bits, the first bit is motor A, the second motor B, etc. Checking motor A and C: 0b0101
target	number	The target angle.

motorTimeOn

Source: lib/modules/motor.whl, line: 244

Turn the motor of the main device on for a given time.

proc motorTimeOn(number id, number time)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
time	number	Time in milliseconds.

motorStop

Source: lib/modules/motor.whl, line: 251

Stop the motor on the main device.

proc motorStop(number id)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorRead

Source: lib/modules/motor.whl, line: 257

Read a motor position on the main device.

proc motorRead(number id)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

Return: The current motor position in degrees.

motorReady

Source: lib/modules/motor.whl, line: 264

Check if a motor on the main device reached its target.

proc motorReady(number id)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.

motorReadyBits

Source: lib/modules/motor.whl, line: 270

Check if one or more motors reached their target.

proc motorReadyBits(number bits)

Parameters:

Name	Type	Description
bits	number	The motor bits, the first bit is motor A, the second motor B, etc. Checking motor A and C: 0b0101

motorThreshold

Source: lib/modules/motor.whl, line: 277

Set the threshold for the motor to reach the given angle, this proc only applies to Powered Up.

proc motorThreshold(number id, number threshold)

Parameters:

Name	Type	Description
id	number	The output, the first output is 0. Constants: OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D.
threshold	number	The threshold, if the difference in degrees between the motor target and position is less than this value then the motor ready status returns TRUE.

waitForMotors

Source: lib/modules/motor.whl, line: 285

Wait until the given motors have reached their targets.

proc waitForMotors(number bits)

Parameters:

Name	Type	Description
bits	number	The motor bits, the first bit is motor A, the second motor B, etc. Checking motor A and C: 0b0101

Wheel IDE

Motor

Constants

Procedures

motorLayerSetType

motorLayerSetSpeed

motorLayerSetBrake

motorLayerGetType

motorLayerReset

motorLayerReverse

motorLayerMoveTo

motorLayerMoveToBits

motorLayerOn

motorLayerTimeOn

motorLayerStop

motorLayerRead

motorLayerReady

motorLayerReadyBits

motorLayerThreshold

motorSetType

motorSetSpeed

motorSetBrake

motorGetType

motorReset

motorReverse

motorMoveTo

motorMoveToBits

motorTimeOn

motorStop

motorRead

motorReady

motorReadyBits

motorThreshold

waitForMotors