diff --git a/classpros_1_1v5_1_1Motor.html b/classpros_1_1v5_1_1Motor.html index abb107a..2cedd32 100644 --- a/classpros_1_1v5_1_1Motor.html +++ b/classpros_1_1v5_1_1Motor.html @@ -76,7 +76,7 @@

Contents

@@ -98,6 +103,20 @@

Functions

Motor(const Device& device)
+
+ const pros::Motor operator""_mtr(const unsigned long long int m) +
+
+
+ const pros::Motor operator""_rmtr(const unsigned long long int m) +
+
+ + +
+

Motor movement functions

+

These functions allow programmers to make motors move

+
std::int32_t move(std::int32_t voltage) const virtual
@@ -128,6 +147,12 @@

Functions

std::int32_t modify_profiled_velocity(const std::int32_t velocity) const virtual
Changes the output velocity for a profiled movement (motor_move_absolute or motor_move_relative).
+
+
+
+

Motor telemetry functions

+

These functions allow programmers to collect telemetry from motors

+
double get_target_position(const std::uint8_t index = 0) const virtual
@@ -136,6 +161,310 @@

Functions

std::int32_t get_target_velocity(const std::uint8_t index = 0) const virtual
Gets the velocity commanded to the motor by the user at the index specified.
+
+ double get_actual_velocity(const std::uint8_t index = 0) const virtual +
+
Gets the actual velocity of the motor.
+
+ std::int32_t get_current_draw(const std::uint8_t index = 0) const virtual +
+
Gets the current drawn by the motor in mA.
+
+ std::int32_t get_direction(const std::uint8_t index = 0) const virtual +
+
Gets the direction of movement for the motor.
+
+ double get_efficiency(const std::uint8_t index = 0) const virtual +
+
Gets the efficiency of the motor in percent.
+
+ std::uint32_t get_faults(const std::uint8_t index = 0) const virtual +
+
Gets the faults experienced by the motor.
+
+ std::uint32_t get_flags(const std::uint8_t index = 0) const virtual +
+
Gets the flags set by the motor's operation.
+
+ double get_position(const std::uint8_t index = 0) const virtual +
+
Gets the absolute position of the motor in its encoder units.
+
+ double get_power(const std::uint8_t index = 0) const virtual +
+
Gets the power drawn by the motor in Watts.
+
+ std::int32_t get_raw_position(std::uint32_t*const timestamp, + const std::uint8_t index = 0) const virtual +
+
Gets the raw encoder count of the motor at a given timestamp.
+
+ double get_temperature(const std::uint8_t index = 0) const virtual +
+
Gets the temperature of the motor in degrees Celsius.
+
+ double get_torque(const std::uint8_t index = 0) const virtual +
+
Gets the torque generated by the motor in Newton Meters (Nm).
+
+ std::int32_t get_voltage(const std::uint8_t index = 0) const virtual +
+
Gets the voltage delivered to the motor in millivolts.
+
+ std::int32_t is_over_current(const std::uint8_t index = 0) const virtual +
+
Checks if the motor is drawing over its current limit.
+
+ std::int32_t is_over_temp(const std::uint8_t index = 0) const virtual +
+
Gets the temperature limit flag for the motor.
+
+
+
+

Motor configuration functions

+

These functions allow programmers to configure the behavior of motors

+
+
+ MotorBrake get_brake_mode(const std::uint8_t index = 0) const virtual +
+
Gets the brake mode that was set for the motor.
+
+ std::int32_t get_current_limit(const std::uint8_t index = 0) const virtual +
+
Gets the current limit for the motor in mA.
+
+ MotorUnits get_encoder_units(const std::uint8_t index = 0) const virtual +
+
Gets the encoder units that were set for the motor.
+
+ MotorGears get_gearing(const std::uint8_t index = 0) const virtual +
+
Gets the gearset that was set for the motor.
+
+ std::int32_t get_voltage_limit(const std::uint8_t index = 0) const virtual +
+
Gets the voltage limit set by the user.
+
+ std::int32_t is_reversed(const std::uint8_t index = 0) const virtual +
+
Gets whether the motor is reversed or not.
+
+ std::int32_t set_brake_mode(const MotorBrake mode, + const std::uint8_t index = 0) const virtual +
+
Sets one of Motor_Brake to the motor.
+
+ std::int32_t set_brake_mode(const pros::motor_brake_mode_e_t mode, + const std::uint8_t index = 0) const virtual +
+
Sets one of MotorBrake to the motor.
+
+ std::int32_t set_current_limit(const std::int32_t limit, + const std::uint8_t index = 0) const virtual +
+
Sets the current limit for the motor in mA.
+
+ std::int32_t set_encoder_units(const MotorUnits units, + const std::uint8_t index = 0) const virtual +
+
Sets one of MotorUnits for the motor encoder.
+
+ std::int32_t set_encoder_units(const pros::motor_encoder_units_e_t units, + const std::uint8_t index = 0) const virtual +
+
Sets one of MotorUnits for the motor encoder.
+
+ std::int32_t set_gearing(const MotorGears gearset, + const std::uint8_t index = 0) const virtual +
+
Sets one of the gear cartridge (red, green, blue) for the motor.
+
+ std::int32_t set_gearing(const pros::motor_gearset_e_t gearset, + const std::uint8_t index = 0) const virtual +
+
Sets one of the gear cartridge (red, green, blue) for the motor.
+
+ std::int32_t set_reversed(const bool reverse, + const std::uint8_t index = 0) virtual +
+
Sets the reverse flag for the motor.
+
+ std::int32_t set_voltage_limit(const std::int32_t limit, + const std::uint8_t index = 0) const virtual +
+
Sets the voltage limit for the motor in Volts.
+
+ std::int32_t set_zero_position(const double position, + const std::uint8_t index = 0) const virtual +
+
Sets the position for the motor in its encoder units.
+
+ std::int32_t tare_position(const std::uint8_t index = 0) const virtual +
+
Sets the "absolute" zero position of the motor to its current position.
+
+ std::int8_t size(void) const virtual +
+
Gets the number of motors.
+
+ static std::vector<Motor> get_all_devices() +
+
Gets the brake mode that was set for the motor.
+
+ std::int8_t get_port(const std::uint8_t index = 0) const virtual +
+
gets the port number of the motor
+
+
+
+

Additional motor functions

+

These functions allow for motors and motor groups to be used interchangeably

+
+
+ std::vector<double> get_target_position_all(void) const virtual +
+
Gets a vector containing the target position set for the motor by the user.
+
+ std::vector<std::int32_t> get_target_velocity_all(void) const virtual +
+
Gets a vector containing the velocity commanded to the motor by the user.
+
+ std::vector<double> get_actual_velocity_all(void) const virtual +
+
Gets a vector containing the actual velocity commanded of the motor.
+
+ std::vector<std::int32_t> get_current_draw_all(void) const virtual +
+
Gets a vector containing the current drawn by the motor in mA.
+
+ std::vector<std::int32_t> get_direction_all(void) const virtual +
+
Gets a vector containing the direction of movement for the motor.
+
+ std::vector<double> get_efficiency_all(void) const virtual +
+
Gets a vector containing the efficiency of the motor in percent.
+
+ std::vector<std::uint32_t> get_faults_all(void) const virtual +
+
Gets a vector of the faults experienced by the motor.
+
+ std::vector<std::uint32_t> get_flags_all(void) const virtual +
+
Gets a vector of the flags set by the motor's operation.
+
+ std::vector<double> get_position_all(void) const virtual +
+
Gets a vector containing the absolute position of the motor in its encoder units.
+
+ std::vector<double> get_power_all(void) const virtual +
+
Gets a vector containing the power drawn by the motor in Watts.
+
+ std::vector<std::int32_t> get_raw_position_all(std::uint32_t*const timestamp) const virtual +
+
Gets a vector of the raw encoder count of the motor at a given timestamp.
+
+ std::vector<double> get_temperature_all(void) const virtual +
+
Gets a vector of the temperature of the motor in degrees Celsius.
+
+ std::vector<double> get_torque_all(void) const virtual +
+
Gets a vector of the torque generated by the motor in Newton Meters (Nm).
+
+ std::vector<std::int32_t> get_voltage_all(void) const virtual +
+
Gets a vector of the voltage delivered to the motor in millivolts.
+
+ std::vector<std::int32_t> is_over_current_all(void) const virtual +
+
Checks if the motor is drawing over its current limit.
+
+ std::vector<std::int32_t> is_over_temp_all(void) const virtual +
+
Gets the temperature limit flag for the motor.
+
+ std::vector<MotorBrake> get_brake_mode_all(void) const virtual +
+
Gets a vector containing the brake mode that was set for the motor.
+
+ std::vector<std::int32_t> get_current_limit_all(void) const virtual +
+
Gets a vector containing the current limit for the motor in mA.
+
+ std::vector<MotorUnits> get_encoder_units_all(void) const virtual +
+
Gets a vector containing the encoder units that were set for the motor.
+
+ std::vector<MotorGears> get_gearing_all(void) const virtual +
+
Gets a vector containing the gearset that was set for the motor.
+
+ std::vector<std::int8_t> get_port_all(void) const virtual +
+
Gets returns a vector with all the port numbers in the motor group.
+
+ std::vector<std::int32_t> get_voltage_limit_all(void) const virtual +
+
Gets a vector of the voltage limit set by the user.
+
+ std::vector<std::int32_t> is_reversed_all(void) const virtual +
+
Gets a vector containg whether the motor is reversed or not.
+
+ std::int32_t set_brake_mode_all(const MotorBrake mode) const virtual +
+
Sets one of Motor_Brake to the motor.
+
+ std::int32_t set_brake_mode_all(const pros::motor_brake_mode_e_t mode) const virtual +
+
Sets one of Motor_Brake to the motor.
+
+ std::int32_t set_current_limit_all(const std::int32_t limit) const virtual +
+
Sets the current limit for the motor in mA.
+
+ std::int32_t set_encoder_units_all(const MotorUnits units) const virtual +
+
Sets one of Motor_Units for the motor encoder.
+
+ std::int32_t set_encoder_units_all(const pros::motor_encoder_units_e_t units) const virtual +
+
Sets one of Motor_Units for the motor encoder.
+
+ std::int32_t set_gearing_all(const MotorGears gearset) const virtual +
+
Sets one of the gear cartridge (red, green, blue) for the motor.
+
+ std::int32_t set_gearing_all(const pros::motor_gearset_e_t gearset) const virtual +
+
Sets one of the gear cartridge (red, green, blue) for the motor.
+
+ std::int32_t set_reversed_all(const bool reverse) virtual +
+
Sets the reverse flag for the motor.
+
+ std::int32_t set_voltage_limit_all(const std::int32_t limit) const virtual +
+
Sets the voltage limit for the motor in Volts.
+
+ std::int32_t set_zero_position_all(const double position) const virtual +
+
Sets the position for the motor in its encoder units.
+
+ std::int32_t tare_position_all(void) const virtual +
+
Sets the "absolute" zero position of the motor to its current position.
+
+
+
+

Variables

+
+
+ std::int8_t _port +
+
@@ -172,7 +501,7 @@

Motor reversed_motor(-2); //Creates a reversed motor on port 1 port 1 without altering gearset or encoder units Motor blue_motor(3, pros::v5::MotorGears::blue); //Creates a motor on port 3 with blue gear set Motor rotations_motor(4, pros::v5::MotorGears::green, pros::v5::MotorUnits::rotations); port 4 w/ rotations - + }

@@ -182,6 +511,20 @@

+
+

+ const pros::Motor operator""_mtr(const unsigned long long int m) +
#include <pros/motors.hpp>
+

+

+
+
+

+ const pros::Motor operator""_rmtr(const unsigned long long int m) +
#include <pros/motors.hpp>
+

+

+

std::int32_t move(std::int32_t voltage) const virtual @@ -375,7 +718,7 @@

This function sets motor velocity to zero, which will cause it to act according to the set brake mode. If brake mode is set to MOTOR_BRAKE_HOLD, this function may behave differently than calling move_absolute(0) or motor_move_relative(0).

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

 void autonomous() {
-  Motor motor(1);
+ Motor motor(1);
   motor.move_voltage(12000);
   pros::delay(1000); // Move at max voltage for 1 second
   motor.brake();
@@ -475,6 +818,1941 @@ 

   }
 }

+
+

+ double get_actual_velocity(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the actual velocity of the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  while (true) {
+    motor = controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y);
+    printf("Actual velocity: %lf\n", motor.get_actual_velocity());
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t get_current_draw(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the current drawn by the motor in mA.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's current in mA or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Current Draw: " << motor.get_current_draw();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t get_direction(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the direction of movement for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Direction: " << motor.get_direction();
+    pros::delay(2);
+  }
+}
+
+
+

+ double get_efficiency(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the efficiency of the motor in percent.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno.
+

An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Efficiency: " << motor.get_efficiency();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::uint32_t get_faults(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the faults experienced by the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsA bitfield containing the motor's faults.
+

Compare this bitfield to the bitmasks in pros::motor_fault_e_t.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Faults: " << motor.get_faults();pros::delay(2);
+  }
+}
+
+
+

+ std::uint32_t get_flags(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the flags set by the motor's operation.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsA bitfield containing the motor's flags.
+

Compare this bitfield to the bitmasks in pros::motor_flag_e_t.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Faults: " << motor.get_faults();
+    pros::delay(2);
+  }
+}
+
+
+

+ double get_position(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the absolute position of the motor in its encoder units.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Position: " << motor.get_position();
+    pros::delay(2);
+  }
+}
+
+
+

+ double get_power(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the power drawn by the motor in Watts.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Power: " << motor.get_power();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t get_raw_position(std::uint32_t*const timestamp, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the raw encoder count of the motor at a given timestamp.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
timestampA pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe raw encoder count at the given timestamp or PROS_ERR if the operation failed.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  std::uint32_t now = pros::millis();
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Position: " << motor.get_raw_position(&now);
+    pros::delay(2);
+  }
+}
+
+
+

+ double get_temperature(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the temperature of the motor in degrees Celsius.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Temperature: " << motor.get_temperature();
+    pros::delay(2);
+  }
+}
+
+
+

+ double get_torque(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the torque generated by the motor in Newton Meters (Nm).

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Torque: " << motor.get_torque();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t get_voltage(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the voltage delivered to the motor in millivolts.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Voltage: " << motor.get_voltage();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t is_over_current(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Checks if the motor is drawing over its current limit.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Is the motor over its current limit?: " << motor.is_over_current();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t is_over_temp(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the temperature limit flag for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Is the motor over its temperature limit?: " << motor.is_over_temp();
+    pros::delay(2);
+  }
+}
+
+
+

+ MotorBrake get_brake_mode(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the brake mode that was set for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsOne of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::int32_t get_current_limit(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the current limit for the motor in mA.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsThe motor's current limit in mA or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  while (true) {
+    std::cout << "Motor Current Limit: " << motor.get_current_limit();
+    pros::delay(2);
+  }
+}
+
+
+

+ MotorUnits get_encoder_units(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the encoder units that were set for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsOne of MotorUnits according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+  std::cout << "Motor Encoder Units: " << motor.get_encoder_units();
+}
+
+
+

+ MotorGears get_gearing(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the gearset that was set for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
ReturnsOne of MotorGears according to what is set for the motor, or pros::MotorGears::invalid if the operation failed.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+  std::cout << "Motor Gearing: " << motor.get_gearing();
+}
+
+
+

+ std::int32_t get_voltage_limit(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets the voltage limit set by the user.

+ + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
+

Default value is 0V, which means that there is no software limitation imposed on the voltage.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  std::cout << "Motor Voltage Limit: " << motor.get_voltage_limit();
+}
+
+
+

+ std::int32_t is_reversed(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Gets whether the motor is reversed or not.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  std::cout << "Is the motor reversed? " << motor.is_reversed();
+  // Prints "0"
+}
+
+
+

+ std::int32_t set_brake_mode(const MotorBrake mode, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of Motor_Brake to the motor.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
modeThe MotorBrake to set for the motor
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::int32_t set_brake_mode(const pros::motor_brake_mode_e_t mode, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of MotorBrake to the motor.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
modeThe MotorBrake to set for the motor
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::int32_t set_current_limit(const std::int32_t limit, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets the current limit for the motor in mA.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
limitThe new current limit in mA
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+
+motor.set_current_limit(1000);
+while (true) {
+  motor = controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+  // The motor will reduce its output at 1000 mA instead of the default 2500 mA
+  pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t set_encoder_units(const MotorUnits units, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of MotorUnits for the motor encoder.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
unitsThe new motor encoder units
index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Works with the C enum and the C++ enum class.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES);
+  std::cout << "Encoder Units: " << motor.get_encoder_units();
+}
+
+
+

+ std::int32_t set_encoder_units(const pros::motor_encoder_units_e_t units, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of MotorUnits for the motor encoder.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
unitsThe new motor encoder units
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Works with the C enum and the C++ enum class.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

+
+
+

+ std::int32_t set_gearing(const MotorGears gearset, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of the gear cartridge (red, green, blue) for the motor.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
gearsetThe new motor gearset
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Usable with the C++ enum class and the C enum.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_gearing(E_MOTOR_GEARSET_06);
+  std::cout << "Gearset: " << motor.get_gearing();
+}
+
+
+

+ std::int32_t set_gearing(const pros::motor_gearset_e_t gearset, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of the gear cartridge (red, green, blue) for the motor.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
gearsetThe new motor gearset
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Usable with the C++ enum class and the C enum.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_gearing(E_MOTOR_GEARSET_06);
+  std::cout << "Gearset: " << motor.get_gearing();
+}
+
+
+

+ std::int32_t set_reversed(const bool reverse, + const std::uint8_t index = 0) virtual +
#include <pros/motors.hpp>
+

+

Sets the reverse flag for the motor.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
reverseTrue reverses the motor, false is default direction
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This will invert its movements and the values returned for its position.

This function uses the following values of errno when an error state is reached:

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_reversed(true);
+  std::cout << "Is this motor reversed? " << motor.is_reversed();
+}
+
+
+

+ std::int32_t set_voltage_limit(const std::int32_t limit, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets the voltage limit for the motor in Volts.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
limitThe new voltage limit in Volts
index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void autonomous() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+
+  motor.set_voltage_limit(10000);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    // The motor will not output more than 10 V
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t set_zero_position(const double position, + const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets the position for the motor in its encoder units.

+ + + + + + + + + + + + + + + + + + + + +
Parameters
positionThe new reference position in its encoder units
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This will be the future reference point for the motor's "absolute" position.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void autonomous() {
+  pros::Motor motor (1);
+  motor.move_absolute(100, 100); // Moves 100 units forward
+  motor.move_absolute(100, 100); // This does not cause a movement
+
+  motor.set_zero_position(80);
+  motor.move_absolute(100, 100); // Moves 80 units forward
+}
+
+
+

+ std::int32_t tare_position(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

Sets the "absolute" zero position of the motor to its current position.

+ + + + + + + + + + + + + + + + +
Parameters
indexOptional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void autonomous() {
+  pros::Motor motor (1);
+  motor.move_absolute(100, 100); // Moves 100 units forward
+  motor.move_absolute(100, 100); // This does not cause a movement
+
+  motor.tare_position();
+  motor.move_absolute(100, 100); // Moves 100 units forward
+}
+
+
+

+ std::int8_t size(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets the number of motors.

+ + + + + + + +
ReturnsAlways returns 1
+
+
+

+ static std::vector<Motor> get_all_devices() +
#include <pros/motors.hpp>
+

+

Gets the brake mode that was set for the motor.

+ + + + + + + +
ReturnsOne of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::int8_t get_port(const std::uint8_t index = 0) const virtual +
#include <pros/motors.hpp>
+

+

gets the port number of the motor

+ + + + + + + +
ReturnsThe signed port of the motor. (negative if the motor is reversed)
+
+
+

+ std::vector<double> get_target_position_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the target position set for the motor by the user.

+ + + + + + + +
ReturnsA vector containing the target position in its encoder units or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void autonomous() {
+  pros::Motor motor (1);
+  motor.move_absolute(100, 100);
+  std::cout << "Motor Target: " << motor.get_target_position_all()[0];
+  // Prints 100
+}
+
+
+

+ std::vector<std::int32_t> get_target_velocity_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the velocity commanded to the motor by the user.

+ + + + + + + +
ReturnsA vector containing the commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+    std::cout << "Motor Velocity: " << motor.get_target_velocity_all()[0];
+    // Prints the value of E_CONTROLLER_ANALOG_LEFT_Y
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<double> get_actual_velocity_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the actual velocity commanded of the motor.

+ + + + + + + +
ReturnsA vector containing the motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+    std::cout << "Motor Velocity: " << motor.get_actual_velocity_all()[0];
+    // Prints the value of E_CONTROLLER_ANALOG_LEFT_Y
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::int32_t> get_current_draw_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the current drawn by the motor in mA.

+ + + + + + + +
ReturnsA vector containing the motor's current in mA or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Current Draw: " << motor.get_current_draw_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::int32_t> get_direction_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the direction of movement for the motor.

+ + + + + + + +
ReturnsA vector containing 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Direction: " << motor.get_direction_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<double> get_efficiency_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the efficiency of the motor in percent.

+ + + + + + + +
ReturnsA vector containing The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno.
+

An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Efficiency: " << motor.get_efficiency();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::uint32_t> get_faults_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the faults experienced by the motor.

+ + + + + + + +
ReturnsA bitfield containing the motor's faults.
+

Compare this bitfield to the bitmasks in pros::motor_fault_e_t.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Faults: " << motor.get_faults_all()[0];
+       pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::uint32_t> get_flags_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the flags set by the motor's operation.

+ + + + + + + +
ReturnsA bitfield containing the motor's flags.
+

Compare this bitfield to the bitmasks in pros::motor_flag_e_t.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Faults: " << motor.get_faults_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<double> get_position_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the absolute position of the motor in its encoder units.

+ + + + + + + +
ReturnsA vector containing the motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Position: " << motor.get_position_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<double> get_power_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the power drawn by the motor in Watts.

+ + + + + + + +
ReturnsA vector containing the motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Power: " << motor.get_power_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::int32_t> get_raw_position_all(std::uint32_t*const timestamp) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the raw encoder count of the motor at a given timestamp.

+ + + + + + + + + + + + + + + + +
Parameters
timestampA pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied
ReturnsA vector containing the raw encoder count at the given timestamp or PROS_ERR if the operation failed.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  std::uint32_t now = pros::millis();
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Position: " << motor.get_raw_position(&now);
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<double> get_temperature_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the temperature of the motor in degrees Celsius.

+ + + + + + + +
ReturnsA vector contaioning the motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Temperature: " << motor.get_temperature_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<double> get_torque_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the torque generated by the motor in Newton Meters (Nm).

+ + + + + + + +
ReturnsA vector containing the motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Torque: " << motor.get_torque();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::int32_t> get_voltage_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the voltage delivered to the motor in millivolts.

+ + + + + + + +
ReturnsA vector of the motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Motor Voltage: " << motor.get_voltage_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::int32_t> is_over_current_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Checks if the motor is drawing over its current limit.

+ + + + + + + +
ReturnsA vector containing 1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Is the motor over its current limit?: " << motor.is_over_current_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<std::int32_t> is_over_temp_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets the temperature limit flag for the motor.

+ + + + + + + +
ReturnsA vector containing 1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    std::cout << "Is the motor over its temperature limit?: " << motor.is_over_temp_all();
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<MotorBrake> get_brake_mode_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the brake mode that was set for the motor.

+ + + + + + + +
ReturnsOne of Motor_Brake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::vector<std::int32_t> get_current_limit_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the current limit for the motor in mA.

+ + + + + + + +
ReturnsA vector containing the motor's current limit in mA or PROS_ERR if the operation failed, setting errno.
+

The default value is 2500 mA.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  while (true) {
+    std::cout << "Motor Current Limit: " << motor.get_current_limit_all()[0];
+    pros::delay(2);
+  }
+}
+
+
+

+ std::vector<MotorUnits> get_encoder_units_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the encoder units that were set for the motor.

+ + + + + + + +
ReturnsA vector containing One of Motor_Units according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+  std::cout << "Motor Encoder Units: " << motor.get_encoder_units_all()[0];
+}
+
+
+

+ std::vector<MotorGears> get_gearing_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containing the gearset that was set for the motor.

+ + + + + + + +
ReturnsA vector containing one of Motor_Gears according to what is set for the motor, or pros::Motor_Gears::invalid if the operation failed.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+  std::cout << "Motor Gearing: " << motor.get_gearing_all()[0];
+}
+
+
+

+ std::vector<std::int8_t> get_port_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets returns a vector with all the port numbers in the motor group.

+ + + + + + + +
ReturnsA vector containing the signed port of the motor. (negative if the motor is reversed)
+
+
+

+ std::vector<std::int32_t> get_voltage_limit_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector of the voltage limit set by the user.

+ + + + + + + +
ReturnsA vector containing the motor's voltage limit in V or PROS_ERR if the operation failed, setting errno.
+

Default value is 0V, which means that there is no software limitation imposed on the voltage.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  std::cout << "Motor Voltage Limit: " << motor.get_voltage_limit_all()[0];
+}
+
+
+

+ std::vector<std::int32_t> is_reversed_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Gets a vector containg whether the motor is reversed or not.

+ + + + + + + +
ReturnsA vector containing 1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno.
+

Example

void initialize() {
+  pros::Motor motor (1);
+  std::cout << "Is the motor reversed? " << motor.is_reversed_all()[0];
+  // Prints "0"
+}
+
+
+

+ std::int32_t set_brake_mode_all(const MotorBrake mode) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of Motor_Brake to the motor.

+ + + + + + + + + + + + + + + + +
Parameters
modeThe Motor_Brake to set for the motor
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::int32_t set_brake_mode_all(const pros::motor_brake_mode_e_t mode) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of Motor_Brake to the motor.

+ + + + + + + + + + + + + + + + +
Parameters
modeThe Motor_Brake to set for the motor
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD);
+  std::cout << "Brake Mode: " << motor.get_brake_mode();
+}
+
+
+

+ std::int32_t set_current_limit_all(const std::int32_t limit) const virtual +
#include <pros/motors.hpp>
+

+

Sets the current limit for the motor in mA.

+ + + + + + + + + + + + + + + + +
Parameters
limitThe new current limit in mA
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void opcontrol() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+
+motor.set_current_limit_all(1000);
+while (true) {
+  motor = controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+  // The motor will reduce its output at 1000 mA instead of the default 2500 mA
+  pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t set_encoder_units_all(const MotorUnits units) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of Motor_Units for the motor encoder.

+ + + + + + + + + + + + + + + + +
Parameters
unitsThe new motor encoder units
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Works with the C enum and the C++ enum class.

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

+
+
+

+ std::int32_t set_encoder_units_all(const pros::motor_encoder_units_e_t units) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of Motor_Units for the motor encoder.

+ + + + + + + + + + + + + + + + +
Parameters
unitsThe new motor encoder units
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Works with the C enum and the C++ enum class.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES);
+  std::cout << "Encoder Units: " << motor.get_encoder_units();
+}
+
+
+

+ std::int32_t set_gearing_all(const MotorGears gearset) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of the gear cartridge (red, green, blue) for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
gearsetThe new motor gearset
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Usable with the C++ enum class and the C enum.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_gearing_all(E_MOTOR_GEARSET_06);
+  std::cout << "Gearset: " << motor.get_gearing();
+}
+
+
+

+ std::int32_t set_gearing_all(const pros::motor_gearset_e_t gearset) const virtual +
#include <pros/motors.hpp>
+

+

Sets one of the gear cartridge (red, green, blue) for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
gearsetThe new motor gearset
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

Usable with the C++ enum class and the C enum.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_gearing_all(E_MOTOR_GEARSET_06);
+  std::cout << "Gearset: " << motor.get_gearing();
+}
+
+
+

+ std::int32_t set_reversed_all(const bool reverse) virtual +
#include <pros/motors.hpp>
+

+

Sets the reverse flag for the motor.

+ + + + + + + + + + + + + + + + +
Parameters
reverseTrue reverses the motor, false is default direction
Returns1
+

This will invert its movements and the values returned for its position.

Example

void initialize() {
+  pros::Motor motor (1);
+  motor.set_reversed_all(true);
+  std::cout << "Is this motor reversed? " << motor.is_reversed();
+}
+
+
+

+ std::int32_t set_voltage_limit_all(const std::int32_t limit) const virtual +
#include <pros/motors.hpp>
+

+

Sets the voltage limit for the motor in Volts.

+ + + + + + + + + + + + + + + + +
Parameters
limitThe new voltage limit in Volts
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached:

ENODEV - The port cannot be configured as a motor

EOVERFLOW - The index is non 0

Example

void autonomous() {
+  pros::Motor motor (1);
+  pros::Controller master (E_CONTROLLER_MASTER);
+
+  motor.set_voltage_limit_all(10000);
+  while (true) {
+    motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+    // The motor will not output more than 10 V
+    pros::delay(2);
+  }
+}
+
+
+

+ std::int32_t set_zero_position_all(const double position) const virtual +
#include <pros/motors.hpp>
+

+

Sets the position for the motor in its encoder units.

+ + + + + + + + + + + + + + + + +
Parameters
positionThe new reference position in its encoder units
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This will be the future reference point for the motor's "absolute" position.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void autonomous() {
+  pros::Motor motor (1);
+  motor.move_absolute(100, 100); // Moves 100 units forward
+  motor.move_absolute(100, 100); // This does not cause a movement
+
+  motor.set_zero_position_all(80);
+  motor.move_absolute(100, 100); // Moves 80 units forward
+}
+
+
+

+ std::int32_t tare_position_all(void) const virtual +
#include <pros/motors.hpp>
+

+

Sets the "absolute" zero position of the motor to its current position.

+ + + + + + + +
Returns1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor

Example

void autonomous() {
+  pros::Motor motor (1);
+  motor.move_absolute(100, 100); // Moves 100 units forward
+  motor.move_absolute(100, 100); // This does not cause a movement
+
+  motor.tare_position_all();
+  motor.move_absolute(100, 100); // Moves 100 units forward
+}
+
+ +
+

Variable documentation

+
+

+ std::int8_t _port +
#include <pros/motors.hpp>
+

+

+
diff --git a/motors_8hpp.html b/motors_8hpp.html index 9f88a0f..e76e5e4 100644 --- a/motors_8hpp.html +++ b/motors_8hpp.html @@ -104,11 +104,11 @@

Classes

Functions

- const pros::Motor operator""_mtr(const unsigned long long int m) + const pros::Motor operator""_mtr(const unsigned long long int m)
- const pros::Motor operator""_rmtr(const unsigned long long int m) + const pros::Motor operator""_rmtr(const unsigned long long int m)
diff --git a/namespacepros_1_1v5_1_1literals.html b/namespacepros_1_1v5_1_1literals.html index d2d3abf..8c3721b 100644 --- a/namespacepros_1_1v5_1_1literals.html +++ b/namespacepros_1_1v5_1_1literals.html @@ -94,11 +94,11 @@

Functions

- const pros::Motor pros::v5::literals::operator""_mtr(const unsigned long long int m) + const pros::Motor pros::v5::literals::operator""_mtr(const unsigned long long int m)
- const pros::Motor pros::v5::literals::operator""_rmtr(const unsigned long long int m) + const pros::Motor pros::v5::literals::operator""_rmtr(const unsigned long long int m)
@@ -137,20 +137,6 @@

} } -
-

- const pros::Motor pros::v5::literals::operator""_mtr(const unsigned long long int m) -
#include <pros/motors.hpp>
-

-

-
-
-

- const pros::Motor pros::v5::literals::operator""_rmtr(const unsigned long long int m) -
#include <pros/motors.hpp>
-

-

-

const pros::Optical pros::v5::literals::operator""_opt(const unsigned long long int o) diff --git a/searchdata-v2.js b/searchdata-v2.js index 11aea72..673e6ec 100644 --- a/searchdata-v2.js +++ b/searchdata-v2.js @@ -1,2 +1,2 @@ /* Generated by https://mcss.mosra.cz/documentation/doxygen/. Do not edit. */ 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diff --git a/xml/classpros_1_1v5_1_1AbstractMotor.xml b/xml/classpros_1_1v5_1_1AbstractMotor.xml index fc81a39..d405a69 100644 --- a/xml/classpros_1_1v5_1_1AbstractMotor.xml +++ b/xml/classpros_1_1v5_1_1AbstractMotor.xml @@ -309,7 +309,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_target_position_all get_target_position_all - get_target_position_all + get_target_position_all void @@ -366,7 +366,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_target_velocity_all get_target_velocity_all - get_target_velocity_all + get_target_velocity_all void @@ -391,7 +391,7 @@ This function uses the following values of errno when an error state is reached: virtual double get_actual_velocity (const std::uint8_t index=0) const =0 get_actual_velocity - get_actual_velocity + get_actual_velocity get_actual_velocity const std::uint8_t @@ -426,7 +426,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_actual_velocity_all get_actual_velocity_all - get_actual_velocity_all + get_actual_velocity_all void @@ -448,7 +448,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t get_current_draw (const std::uint8_t index=0) const =0 get_current_draw - get_current_draw + get_current_draw get_current_draw const std::uint8_t @@ -483,7 +483,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_current_draw_all get_current_draw_all - get_current_draw_all + get_current_draw_all void @@ -506,7 +506,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t get_direction (const std::uint8_t index=0) const =0 get_direction - get_direction + get_direction get_direction const std::uint8_t @@ -541,7 +541,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_direction_all get_direction_all - get_direction_all + get_direction_all void @@ -564,7 +564,7 @@ This function uses the following values of errno when an error state is reached: virtual double get_efficiency (const std::uint8_t index=0) const =0 get_efficiency - get_efficiency + get_efficiency get_efficiency const std::uint8_t @@ -600,7 +600,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_efficiency_all get_efficiency_all - get_efficiency_all + get_efficiency_all void @@ -624,7 +624,7 @@ This function uses the following values of errno when an error state is reached: virtual std::uint32_t get_faults (const std::uint8_t index=0) const =0 get_faults - get_faults + get_faults get_faults const std::uint8_t @@ -660,7 +660,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_faults_all get_faults_all - get_faults_all + get_faults_all void @@ -684,7 +684,7 @@ This function uses the following values of errno when an error state is reached: virtual std::uint32_t get_flags (const std::uint8_t index=0) const =0 get_flags - get_flags + get_flags get_flags const std::uint8_t @@ -720,7 +720,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_flags_all get_flags_all - get_flags_all + get_flags_all void @@ -744,7 +744,7 @@ This function uses the following values of errno when an error state is reached: virtual double get_position (const std::uint8_t index=0) const =0 get_position - get_position + get_position get_position const std::uint8_t @@ -779,7 +779,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_position_all get_position_all - get_position_all + get_position_all void @@ -802,7 +802,7 @@ This function uses the following values of errno when an error state is reached: virtual double get_power (const std::uint8_t index=0) const =0 get_power - get_power + get_power get_power const std::uint8_t @@ -837,7 +837,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_power_all get_power_all - get_power_all + get_power_all void @@ -860,7 +860,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t get_raw_position (std::uint32_t *const timestamp, const std::uint8_t index=0) const =0 get_raw_position - get_raw_position + get_raw_position get_raw_position std::uint32_t *const @@ -907,7 +907,7 @@ This function uses the following values of errno when an error state is reached: (std::uint32_t *const timestamp) const =0 get_raw_position_all get_raw_position_all - get_raw_position_all + get_raw_position_all std::uint32_t *const timestamp @@ -940,7 +940,7 @@ This function uses the following values of errno when an error state is reached: virtual double get_temperature (const std::uint8_t index=0) const =0 get_temperature - get_temperature + get_temperature get_temperature const std::uint8_t @@ -975,7 +975,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_temperature_all get_temperature_all - get_temperature_all + get_temperature_all void @@ -1006,7 +1006,7 @@ This function uses the following values of errno when an error state is reached: virtual double get_torque (const std::uint8_t index=0) const =0 get_torque - get_torque + get_torque get_torque const std::uint8_t @@ -1041,7 +1041,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_torque_all get_torque_all - get_torque_all + get_torque_all void @@ -1072,7 +1072,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t get_voltage (const std::uint8_t index=0) const =0 get_voltage - get_voltage + get_voltage get_voltage const std::uint8_t @@ -1107,7 +1107,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_voltage_all get_voltage_all - get_voltage_all + get_voltage_all void @@ -1138,7 +1138,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t is_over_current (const std::uint8_t index=0) const =0 is_over_current - is_over_current + is_over_current is_over_current const std::uint8_t @@ -1173,7 +1173,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 is_over_current_all is_over_current_all - is_over_current_all + is_over_current_all void @@ -1204,7 +1204,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t is_over_temp (const std::uint8_t index=0) const =0 is_over_temp - is_over_temp + is_over_temp is_over_temp const std::uint8_t @@ -1239,7 +1239,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 is_over_temp_all is_over_temp_all - is_over_temp_all + is_over_temp_all void @@ -1273,7 +1273,7 @@ This function uses the following values of errno when an error state is reached: virtual MotorBrake get_brake_mode (const std::uint8_t index=0) const =0 get_brake_mode - get_brake_mode + get_brake_mode get_brake_mode const std::uint8_t @@ -1308,7 +1308,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_brake_mode_all get_brake_mode_all - get_brake_mode_all + get_brake_mode_all void @@ -1339,7 +1339,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t get_current_limit (const std::uint8_t index=0) const =0 get_current_limit - get_current_limit + get_current_limit get_current_limit const std::uint8_t @@ -1375,7 +1375,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_current_limit_all get_current_limit_all - get_current_limit_all + get_current_limit_all void @@ -1407,7 +1407,7 @@ This function uses the following values of errno when an error state is reached: virtual MotorUnits get_encoder_units (const std::uint8_t index=0) const =0 get_encoder_units - get_encoder_units + get_encoder_units get_encoder_units const std::uint8_t @@ -1442,7 +1442,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_encoder_units_all get_encoder_units_all - get_encoder_units_all + get_encoder_units_all void @@ -1473,7 +1473,7 @@ This function uses the following values of errno when an error state is reached: virtual MotorGears get_gearing (const std::uint8_t index=0) const =0 get_gearing - get_gearing + get_gearing get_gearing const std::uint8_t @@ -1508,7 +1508,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_gearing_all get_gearing_all - get_gearing_all + get_gearing_all void @@ -1540,7 +1540,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_port_all get_port_all - get_port_all + get_port_all void @@ -1561,7 +1561,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t get_voltage_limit (const std::uint8_t index=0) const =0 get_voltage_limit - get_voltage_limit + get_voltage_limit get_voltage_limit const std::uint8_t @@ -1597,7 +1597,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_voltage_limit_all get_voltage_limit_all - get_voltage_limit_all + get_voltage_limit_all void @@ -1629,7 +1629,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t is_reversed (const std::uint8_t index=0) const =0 is_reversed - is_reversed + is_reversed is_reversed const std::uint8_t @@ -1664,7 +1664,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 is_reversed_all is_reversed_all - is_reversed_all + is_reversed_all void @@ -1695,7 +1695,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_brake_mode (const MotorBrake mode, const std::uint8_t index=0) const =0 set_brake_mode - set_brake_mode + set_brake_mode set_brake_mode const MotorBrake @@ -1742,7 +1742,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_brake_mode (const pros::motor_brake_mode_e_t mode, const std::uint8_t index=0) const =0 set_brake_mode - set_brake_mode + set_brake_mode set_brake_mode const pros::motor_brake_mode_e_t @@ -1781,7 +1781,7 @@ This function uses the following values of errno when an error state is reached: (const MotorBrake mode) const =0 set_brake_mode_all set_brake_mode_all - set_brake_mode_all + set_brake_mode_all const MotorBrake mode @@ -1814,7 +1814,7 @@ This function uses the following values of errno when an error state is reached: (const pros::motor_brake_mode_e_t mode) const =0 set_brake_mode_all set_brake_mode_all - set_brake_mode_all + set_brake_mode_all const pros::motor_brake_mode_e_t mode @@ -1846,7 +1846,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_current_limit (const std::int32_t limit, const std::uint8_t index=0) const =0 set_current_limit - set_current_limit + set_current_limit set_current_limit const std::int32_t @@ -1893,7 +1893,7 @@ This function uses the following values of errno when an error state is reached: (const std::int32_t limit) const =0 set_current_limit_all set_current_limit_all - set_current_limit_all + set_current_limit_all const std::int32_t limit @@ -1925,7 +1925,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_encoder_units (const MotorUnits units, const std::uint8_t index=0) const =0 set_encoder_units - set_encoder_units + set_encoder_units set_encoder_units const MotorUnits @@ -1972,7 +1972,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_encoder_units (const pros::motor_encoder_units_e_t units, const std::uint8_t index=0) const =0 set_encoder_units - set_encoder_units + set_encoder_units set_encoder_units const pros::motor_encoder_units_e_t @@ -2011,7 +2011,7 @@ This function uses the following values of errno when an error state is reached: (const MotorUnits units) const =0 set_encoder_units_all set_encoder_units_all - set_encoder_units_all + set_encoder_units_all const MotorUnits units @@ -2044,7 +2044,7 @@ This function uses the following values of errno when an error state is reached: (const pros::motor_encoder_units_e_t units) const =0 set_encoder_units_all set_encoder_units_all - set_encoder_units_all + set_encoder_units_all const pros::motor_encoder_units_e_t units @@ -2076,7 +2076,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_gearing (const MotorGears gearset, const std::uint8_t index=0) const =0 set_gearing - set_gearing + set_gearing set_gearing const MotorGears @@ -2123,7 +2123,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_gearing (const pros::motor_gearset_e_t gearset, const std::uint8_t index=0) const =0 set_gearing - set_gearing + set_gearing set_gearing const pros::motor_gearset_e_t @@ -2162,7 +2162,7 @@ This function uses the following values of errno when an error state is reached: (const MotorGears gearset) const =0 set_gearing_all set_gearing_all - set_gearing_all + set_gearing_all const MotorGears gearset @@ -2195,7 +2195,7 @@ This function uses the following values of errno when an error state is reached: (const pros::motor_gearset_e_t gearset) const =0 set_gearing_all set_gearing_all - set_gearing_all + set_gearing_all const pros::motor_gearset_e_t gearset @@ -2227,7 +2227,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_reversed (const bool reverse, const std::uint8_t index=0)=0 set_reversed - set_reversed + set_reversed set_reversed const bool @@ -2275,7 +2275,7 @@ This function uses the following values of errno when an error state is reached: (const bool reverse)=0 set_reversed_all set_reversed_all - set_reversed_all + set_reversed_all const bool reverse @@ -2307,7 +2307,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_voltage_limit (const std::int32_t limit, const std::uint8_t index=0) const =0 set_voltage_limit - set_voltage_limit + set_voltage_limit set_voltage_limit const std::int32_t @@ -2354,7 +2354,7 @@ This function uses the following values of errno when an error state is reached: (const std::int32_t limit) const =0 set_voltage_limit_all set_voltage_limit_all - set_voltage_limit_all + set_voltage_limit_all const std::int32_t limit @@ -2386,7 +2386,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t set_zero_position (const double position, const std::uint8_t index=0) const =0 set_zero_position - set_zero_position + set_zero_position set_zero_position const double @@ -2434,7 +2434,7 @@ This function uses the following values of errno when an error state is reached: (const double position) const =0 set_zero_position_all set_zero_position_all - set_zero_position_all + set_zero_position_all const double position @@ -2466,7 +2466,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int32_t tare_position (const std::uint8_t index=0) const =0 tare_position - tare_position + tare_position tare_position const std::uint8_t @@ -2501,7 +2501,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 tare_position_all tare_position_all - tare_position_all + tare_position_all void @@ -2532,7 +2532,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int8_t get_port (const std::uint8_t index=0) const =0 get_port - get_port + get_port get_port const std::uint8_t @@ -2566,7 +2566,7 @@ This function uses the following values of errno when an error state is reached: virtual std::int8_t size (void) const =0 size - size + size size void diff --git a/xml/classpros_1_1v5_1_1Motor.xml b/xml/classpros_1_1v5_1_1Motor.xml index a6d3590..337618f 100644 --- a/xml/classpros_1_1v5_1_1Motor.xml +++ b/xml/classpros_1_1v5_1_1Motor.xml @@ -6,43 +6,41 @@ Device motors.hpp -
Motor telemetry functions
- These functions allow programmers to collect telemetry from motors +
Motor movement functions
+ These functions allow programmers to make motors move - - double - double get_actual_velocity - (const std::uint8_t index=0) const - get_actual_velocity - get_actual_velocity + + std::int32_t + std::int32_t move + (std::int32_t voltage) const + move + move - const std::uint8_t - index - 0 + std::int32_t + voltage -Gets the actual velocity of the motor. +Sets the voltage for the motor from -127 to 127. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 +This is designed to map easily to the input from the controller's analog stick for simple opcontrol use. The actual behavior of the motor is analogous to use of motor_move(). +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -index +voltage -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The new motor voltage from -127 to 127 -The motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ -pros::Motormotor(1); +pros::MotorMotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -motor=controller_get_analog(E_CONTROLLER_MASTER,E_CONTROLLER_ANALOG_LEFT_Y); -printf("Actualvelocity:%lf\n",motor.get_actual_velocity()); +motor.move(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); pros::delay(2); } } @@ -50,45 +48,63 @@ This function uses the following values of errno when an error state is reached: - + - + std::int32_t - std::int32_t get_current_draw - (const std::uint8_t index=0) const - get_current_draw - get_current_draw + std::int32_t move_absolute + (const double position, const std::int32_t velocity) const + move_absolute + move_absolute - const std::uint8_t - index - 0 + const double + position + + + const std::int32_t + velocity -Gets the current drawn by the motor in mA. +Sets the target absolute position for the motor to move to. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups +This movement is relative to the position of the motor when initialized or the position when it was most recently reset with pros::Motor::set_zero_position(). +This function simply sets the target for the motor, it does not block program execution until the movement finishes. -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -index +position -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The absolute position to move to in the motor's encoder units + + + + +velocity + + +The maximum allowable velocity for the movement in RPM -The motor's current in mA or PROS_ERR if the operation failed, setting errno. +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorCurrentDraw:"<<motor.get_current_draw(); +motor.move_absolute(100,100);//Moves100unitsforward +while(!((motor.get_position()<105)&&(motor.get_position()>95))){ +//Continuerunningthisloopaslongasthemotorisnotwithin+-5unitsofitsgoal +pros::delay(2); +} +motor.move_absolute(100,100);//Thisdoesnotcauseamovement +while(!((motor.get_position()<105)&&(motor.get_position()>95))){ +pros::delay(2); +} +motor.tare_position(); +motor.move_absolute(100,100);//Moves100unitsforward +while(!((motor.get_position()<105)&&(motor.get_position()>95))){ pros::delay(2); } } @@ -96,45 +112,58 @@ This function uses the following values of errno when an error state is reached: - + - + std::int32_t - std::int32_t get_direction - (const std::uint8_t index=0) const - get_direction - get_direction + std::int32_t move_relative + (const double position, const std::int32_t velocity) const + move_relative + move_relative - const std::uint8_t - index - 0 + const double + position + + + const std::int32_t + velocity -Gets the direction of movement for the motor. +Sets the relative target position for the motor to move to. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups +This movement is relative to the current position of the motor as given in pros::Motor::motor_get_position(). Providing 10.0 as the position parameter would result in the motor moving clockwise 10 units (counter clockwise if reversed), no matter what the current position is. +This function simply sets the target for the motor, it does not block program execution until the movement finishes. -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -index +position -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The relative position to move to in the motor's encoder units + + + + +velocity + + +The maximum allowable velocity for the movement in RPM -1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorDirection:"<<motor.get_direction(); +motor.move_relative(100,100);//Moves100unitsforward +while(!((motor.get_position()<105)&&(motor.get_position()>95))){ +//Continuerunningthisloopaslongasthemotorisnotwithin+-5unitsofitsgoal +pros::delay(2); +} +motor.move_relative(100,100);//Alsomoves100unitsforward +while(!((motor.get_position()<205)&&(motor.get_position()>195))){ pros::delay(2); } } @@ -142,122 +171,183 @@ This function uses the following values of errno when an error state is reached: - + - - double - double get_efficiency - (const std::uint8_t index=0) const - get_efficiency - get_efficiency + + std::int32_t + std::int32_t move_velocity + (const std::int32_t velocity) const + move_velocity + move_velocity - const std::uint8_t - index - 0 + const std::int32_t + velocity -Gets the efficiency of the motor in percent. +Sets the velocity for the motor. -An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This velocity corresponds to different actual speeds depending on the gearset used for the motor. This results in a range of +-100 for E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent speed, as opposed to setting the motor's voltage. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -index +velocity -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The new motor velocity from -+-100, +-200, or +-600 depending on the motor's gearset -The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno. +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorEfficiency:"<<motor.get_efficiency(); -pros::delay(2); -} +motor.move_velocity(100); +pros::delay(1000);//Moveat100RPMfor1second +motor.move_velocity(0); } - + - - std::uint32_t - std::uint32_t get_faults - (const std::uint8_t index=0) const - get_faults - get_faults + + std::int32_t + std::int32_t move_voltage + (const std::int32_t voltage) const + move_voltage + move_voltage - const std::uint8_t - index - 0 + const std::int32_t + voltage -Gets the faults experienced by the motor. +Sets the output voltage for the motor from -12000 to 12000 in millivolts. -Compare this bitfield to the bitmasks in pros::motor_fault_e_t. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -index +port -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The V5 port number from 1-21 + + + + +voltage + + +The new voltage value from -12000 to 12000 -A bitfield containing the motor's faults. +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorFaults:"<<motor.get_faults();pros::delay(2); -} +Example voidautonomous(){ +motor.move_voltage(12000); +pros::delay(1000);//Moveatmaxvoltagefor1second +motor.move_voltage(0); } - + - - std::uint32_t - std::uint32_t get_flags - (const std::uint8_t index=0) const - get_flags - get_flags + + std::int32_t + std::int32_t brake + (void) const + brake + brake - const std::uint8_t - index + void + + +Stops the motor using the currently configured brake mode. + + +This function sets motor velocity to zero, which will cause it to act according to the set brake mode. If brake mode is set to MOTOR_BRAKE_HOLD, this function may behave differently than calling move_absolute(0) or motor_move_relative(0). +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +Motormotor(1); +motor.move_voltage(12000); +pros::delay(1000);//Moveatmaxvoltagefor1second +motor.brake(); +} + + + + + + + + std::int32_t + std::int32_t modify_profiled_velocity + (const std::int32_t velocity) const + modify_profiled_velocity + modify_profiled_velocity + + const std::int32_t + velocity + + +Changes the output velocity for a profiled movement (motor_move_absolute or motor_move_relative). + + +This will have no effect if the motor is not following a profiled movement. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +velocity + + +The new motor velocity from +-100, +-200, or +-600 depending on the motor's gearset + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +motor.move_absolute(100,100); +pros::delay(100); +motor.modify_profiled_velocity(0);//Stopthemotorearly +} + + + + + + + + +
Motor telemetry functions
+ These functions allow programmers to collect telemetry from motors + + + double + double get_target_position + (const std::uint8_t index=0) const + get_target_position + get_target_position + + const std::uint8_t + index 0 -Gets the flags set by the motor's operation. +Gets the target position set for the motor by the user. -Compare this bitfield to the bitmasks in pros::motor_flag_e_t. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 index @@ -267,43 +357,38 @@ This function uses the following values of errno when an error state is reached: -A bitfield containing the motor's flags. +The target position in its encoder units or PROS_ERR_F if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorFaults:"<<motor.get_faults(); -pros::delay(2); -} +motor.move_absolute(100,100); +std::cout<<"MotorTarget:"<<motor.get_target_position(); +//Prints100 } - + - - double - double get_position + + std::int32_t + std::int32_t get_target_velocity (const std::uint8_t index=0) const - get_position - get_position + get_target_velocity + get_target_velocity const std::uint8_t index 0 -Gets the absolute position of the motor in its encoder units. +Gets the velocity commanded to the motor by the user at the index specified. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 index @@ -313,14 +398,15 @@ This function uses the following values of errno when an error state is reached: -The motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. +The commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorPosition:"<<motor.get_position(); +motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); +std::cout<<"MotorVelocity:"<<motor.get_target_velocity(); +//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y pros::delay(2); } } @@ -328,28 +414,26 @@ This function uses the following values of errno when an error state is reached: - + - + double - double get_power + double get_actual_velocity (const std::uint8_t index=0) const - get_power - get_power + get_actual_velocity + get_actual_velocity const std::uint8_t index 0 -Gets the power drawn by the motor in Watts. +Gets the actual velocity of the motor. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 index @@ -359,14 +443,13 @@ This function uses the following values of errno when an error state is reached: -The motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. +The motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorPower:"<<motor.get_power(); +motor=controller_get_analog(E_CONTROLLER_MASTER,E_CONTROLLER_ANALOG_LEFT_Y); +printf("Actualvelocity:%lf\n",motor.get_actual_velocity()); pros::delay(2); } } @@ -374,25 +457,21 @@ This function uses the following values of errno when an error state is reached: - + - + std::int32_t - std::int32_t get_raw_position - (std::uint32_t *const timestamp, const std::uint8_t index=0) const - get_raw_position - get_raw_position - - std::uint32_t *const - timestamp - + std::int32_t get_current_draw + (const std::uint8_t index=0) const + get_current_draw + get_current_draw const std::uint8_t index 0 -Gets the raw encoder count of the motor at a given timestamp. +Gets the current drawn by the motor in mA. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -402,14 +481,6 @@ This function uses the following values of errno when an error state is reached: EOVERFLOW - The index is non 0 -timestamp - - -A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied - - - - index @@ -417,15 +488,14 @@ This function uses the following values of errno when an error state is reached: -The raw encoder count at the given timestamp or PROS_ERR if the operation failed. +The motor's current in mA or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ -std::uint32_tnow=pros::millis(); pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorPosition:"<<motor.get_raw_position(&now); +std::cout<<"MotorCurrentDraw:"<<motor.get_current_draw(); pros::delay(2); } } @@ -433,21 +503,21 @@ This function uses the following values of errno when an error state is reached: - + - - double - double get_temperature + + std::int32_t + std::int32_t get_direction (const std::uint8_t index=0) const - get_temperature - get_temperature + get_direction + get_direction const std::uint8_t index 0 -Gets the temperature of the motor in degrees Celsius. +Gets the direction of movement for the motor. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -464,14 +534,14 @@ This function uses the following values of errno when an error state is reached: -The motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. +1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorTemperature:"<<motor.get_temperature(); +std::cout<<"MotorDirection:"<<motor.get_direction(); pros::delay(2); } } @@ -479,23 +549,24 @@ This function uses the following values of errno when an error state is reached: - + - + double - double get_torque + double get_efficiency (const std::uint8_t index=0) const - get_torque - get_torque + get_efficiency + get_efficiency const std::uint8_t index 0 -Gets the torque generated by the motor in Newton Meters (Nm). +Gets the efficiency of the motor in percent. +An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -510,14 +581,14 @@ This function uses the following values of errno when an error state is reached: -The motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. +The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorTorque:"<<motor.get_torque(); +std::cout<<"MotorEfficiency:"<<motor.get_efficiency(); pros::delay(2); } } @@ -525,23 +596,24 @@ This function uses the following values of errno when an error state is reached: - + - - std::int32_t - std::int32_t get_voltage + + std::uint32_t + std::uint32_t get_faults (const std::uint8_t index=0) const - get_voltage - get_voltage + get_faults + get_faults const std::uint8_t index 0 -Gets the voltage delivered to the motor in millivolts. +Gets the faults experienced by the motor. +Compare this bitfield to the bitmasks in pros::motor_fault_e_t. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -556,38 +628,38 @@ This function uses the following values of errno when an error state is reached: -The motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. +A bitfield containing the motor's faults. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorVoltage:"<<motor.get_voltage(); -pros::delay(2); +std::cout<<"MotorFaults:"<<motor.get_faults();pros::delay(2); } } - + - - std::int32_t - std::int32_t is_over_current + + std::uint32_t + std::uint32_t get_flags (const std::uint8_t index=0) const - is_over_current - is_over_current + get_flags + get_flags const std::uint8_t index 0 -Checks if the motor is drawing over its current limit. +Gets the flags set by the motor's operation. +Compare this bitfield to the bitmasks in pros::motor_flag_e_t. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -602,14 +674,14 @@ This function uses the following values of errno when an error state is reached: -1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno. +A bitfield containing the motor's flags. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"Isthemotoroveritscurrentlimit?:"<<motor.is_over_current(); +std::cout<<"MotorFaults:"<<motor.get_faults(); pros::delay(2); } } @@ -617,21 +689,21 @@ This function uses the following values of errno when an error state is reached: - + - - std::int32_t - std::int32_t is_over_temp + + double + double get_position (const std::uint8_t index=0) const - is_over_temp - is_over_temp + get_position + get_position const std::uint8_t index 0 -Gets the temperature limit flag for the motor. +Gets the absolute position of the motor in its encoder units. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -648,14 +720,14 @@ This function uses the following values of errno when an error state is reached: -1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. +The motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"Isthemotoroveritstemperaturelimit?:"<<motor.is_over_temp(); +std::cout<<"MotorPosition:"<<motor.get_position(); pros::delay(2); } } @@ -663,26 +735,21 @@ This function uses the following values of errno when an error state is reached: - + - - -
Motor configuration functions
- These functions allow programmers to configure the behavior of motors - - - MotorBrake - MotorBrake get_brake_mode + + double + double get_power (const std::uint8_t index=0) const - get_brake_mode - get_brake_mode + get_power + get_power const std::uint8_t index 0 -Gets the brake mode that was set for the motor. +Gets the power drawn by the motor in Watts. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -699,32 +766,40 @@ This function uses the following values of errno when an error state is reached: -One of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. +The motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); -std::cout<<"BrakeMode:"<<motor.get_brake_mode(); -} - - +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPower:"<<motor.get_power(); +pros::delay(2); +} +} + + - + - + std::int32_t - std::int32_t get_current_limit - (const std::uint8_t index=0) const - get_current_limit - get_current_limit + std::int32_t get_raw_position + (std::uint32_t *const timestamp, const std::uint8_t index=0) const + get_raw_position + get_raw_position + + std::uint32_t *const + timestamp + const std::uint8_t index 0 -Gets the current limit for the motor in mA. +Gets the raw encoder count of the motor at a given timestamp. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -734,6 +809,14 @@ This function uses the following values of errno when an error state is reached: EOVERFLOW - The index is non 0 +timestamp + + +A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied + + + + index @@ -741,12 +824,15 @@ This function uses the following values of errno when an error state is reached: -The motor's current limit in mA or PROS_ERR if the operation failed, setting errno. +The raw encoder count at the given timestamp or PROS_ERR if the operation failed. Example voidopcontrol(){ +std::uint32_tnow=pros::millis(); pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -std::cout<<"MotorCurrentLimit:"<<motor.get_current_limit(); +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_raw_position(&now); pros::delay(2); } } @@ -754,21 +840,21 @@ This function uses the following values of errno when an error state is reached: - + - - MotorUnits - MotorUnits get_encoder_units + + double + double get_temperature (const std::uint8_t index=0) const - get_encoder_units - get_encoder_units + get_temperature + get_temperature const std::uint8_t index 0 -Gets the encoder units that were set for the motor. +Gets the temperature of the motor in degrees Celsius. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -785,31 +871,36 @@ This function uses the following values of errno when an error state is reached: -One of MotorUnits according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed. +The motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. -Example voidinitialize(){ -pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); -std::cout<<"MotorEncoderUnits:"<<motor.get_encoder_units(); +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTemperature:"<<motor.get_temperature(); +pros::delay(2); +} } - + - - MotorGears - MotorGears get_gearing + + double + double get_torque (const std::uint8_t index=0) const - get_gearing - get_gearing + get_torque + get_torque const std::uint8_t index 0 -Gets the gearset that was set for the motor. +Gets the torque generated by the motor in Newton Meters (Nm). This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -826,34 +917,38 @@ This function uses the following values of errno when an error state is reached: -One of MotorGears according to what is set for the motor, or pros::MotorGears::invalid if the operation failed. +The motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. -Example voidinitialize(){ -pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); -std::cout<<"MotorGearing:"<<motor.get_gearing(); +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTorque:"<<motor.get_torque(); +pros::delay(2); +} } - + - + std::int32_t - std::int32_t get_voltage_limit + std::int32_t get_voltage (const std::uint8_t index=0) const - get_voltage_limit - get_voltage_limit + get_voltage + get_voltage const std::uint8_t index 0 -Gets the voltage limit set by the user. +Gets the voltage delivered to the motor in millivolts. -Default value is 0V, which means that there is no software limitation imposed on the voltage. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -868,34 +963,42 @@ This function uses the following values of errno when an error state is reached: -Example voidinitialize(){ +The motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ pros::Motormotor(1); -std::cout<<"MotorVoltageLimit:"<<motor.get_voltage_limit(); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorVoltage:"<<motor.get_voltage(); +pros::delay(2); +} } - + - + std::int32_t - std::int32_t is_reversed + std::int32_t is_over_current (const std::uint8_t index=0) const - is_reversed - is_reversed + is_over_current + is_over_current const std::uint8_t index 0 -Gets whether the motor is reversed or not. +Checks if the motor is drawing over its current limit. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 @@ -906,36 +1009,36 @@ This function uses the following values of errno when an error state is reached: -1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno. +1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -std::cout<<"Isthemotorreversed?"<<motor.is_reversed(); -//Prints"0" +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritscurrentlimit?:"<<motor.is_over_current(); +pros::delay(2); +} } - + - + std::int32_t - std::int32_t set_brake_mode - (const MotorBrake mode, const std::uint8_t index=0) const - set_brake_mode - set_brake_mode - - const MotorBrake - mode - + std::int32_t is_over_temp + (const std::uint8_t index=0) const + is_over_temp + is_over_temp const std::uint8_t index 0 -Sets one of Motor_Brake to the motor. +Gets the temperature limit flag for the motor. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -945,14 +1048,6 @@ This function uses the following values of errno when an error state is reached: EOVERFLOW - The index is non 0 -mode - - -The MotorBrake to set for the motor - - - - index @@ -960,36 +1055,41 @@ This function uses the following values of errno when an error state is reached: -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); -std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritstemperaturelimit?:"<<motor.is_over_temp(); +pros::delay(2); +} } - + - - std::int32_t - std::int32_t set_brake_mode - (const pros::motor_brake_mode_e_t mode, const std::uint8_t index=0) const - set_brake_mode - set_brake_mode - - const pros::motor_brake_mode_e_t - mode - + + +
Motor configuration functions
+ These functions allow programmers to configure the behavior of motors + + + MotorBrake + MotorBrake get_brake_mode + (const std::uint8_t index=0) const + get_brake_mode + get_brake_mode const std::uint8_t index 0 -Sets one of MotorBrake to the motor. +Gets the brake mode that was set for the motor. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -999,14 +1099,6 @@ This function uses the following values of errno when an error state is reached: EOVERFLOW - The index is non 0 -mode - - -The MotorBrake to set for the motor - - - - index @@ -1014,7 +1106,7 @@ This function uses the following values of errno when an error state is reached: -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +One of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. Example voidinitialize(){ pros::Motormotor(1); @@ -1025,25 +1117,21 @@ This function uses the following values of errno when an error state is reached: - + - + std::int32_t - std::int32_t set_current_limit - (const std::int32_t limit, const std::uint8_t index=0) const - set_current_limit - set_current_limit - - const std::int32_t - limit - + std::int32_t get_current_limit + (const std::uint8_t index=0) const + get_current_limit + get_current_limit const std::uint8_t index 0 -Sets the current limit for the motor in mA. +Gets the current limit for the motor in mA. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups @@ -1053,14 +1141,6 @@ This function uses the following values of errno when an error state is reached: EOVERFLOW - The index is non 0 -limit - - -The new current limit in mA - - - - index @@ -1068,88 +1148,77 @@ This function uses the following values of errno when an error state is reached: -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +The motor's current limit in mA or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); - -motor.set_current_limit(1000); -while(true){ -motor=controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -//Themotorwillreduceitsoutputat1000mAinsteadofthedefault2500mA -pros::delay(2); +while(true){ +std::cout<<"MotorCurrentLimit:"<<motor.get_current_limit(); +pros::delay(2); } } - + - - std::int32_t - std::int32_t set_encoder_units - (const MotorUnits units, const std::uint8_t index=0) const - set_encoder_units - set_encoder_units - - const MotorUnits - units - + + MotorUnits + MotorUnits get_encoder_units + (const std::uint8_t index=0) const + get_encoder_units + get_encoder_units const std::uint8_t index 0 -Sets one of MotorUnits for the motor encoder. +Gets the encoder units that were set for the motor. -Works with the C enum and the C++ enum class. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 -units +index -The new motor encoder units +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +One of MotorUnits according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed. Example voidinitialize(){ -pros::Motormotor(1); -motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES); -std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorEncoderUnits:"<<motor.get_encoder_units(); } - + - - std::int32_t - std::int32_t set_encoder_units - (const pros::motor_encoder_units_e_t units, const std::uint8_t index=0) const - set_encoder_units - set_encoder_units - - const pros::motor_encoder_units_e_t - units - + + MotorGears + MotorGears get_gearing + (const std::uint8_t index=0) const + get_gearing + get_gearing const std::uint8_t index 0 -Sets one of MotorUnits for the motor encoder. +Gets the gearset that was set for the motor. -Works with the C enum and the C++ enum class. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -1164,51 +1233,34 @@ This function uses the following values of errno when an error state is reached: - - - -units - - -The new motor encoder units - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +One of MotorGears according to what is set for the motor, or pros::MotorGears::invalid if the operation failed. Example voidinitialize(){ -pros::Motormotor(1); -motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES); -std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorGearing:"<<motor.get_gearing(); } - - - + - + std::int32_t - std::int32_t set_gearing - (const MotorGears gearset, const std::uint8_t index=0) const - set_gearing - set_gearing - - const MotorGears - gearset - + std::int32_t get_voltage_limit + (const std::uint8_t index=0) const + get_voltage_limit + get_voltage_limit const std::uint8_t index 0 -Sets one of the gear cartridge (red, green, blue) for the motor. +Gets the voltage limit set by the user. -Usable with the C++ enum class and the C enum. +Default value is 0V, which means that there is no software limitation imposed on the voltage. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -1219,40 +1271,70 @@ This function uses the following values of errno when an error state is reached: index -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index - + +Example voidinitialize(){ +pros::Motormotor(1); +std::cout<<"MotorVoltageLimit:"<<motor.get_voltage_limit(); +} + + + + + + + + std::int32_t + std::int32_t is_reversed + (const std::uint8_t index=0) const + is_reversed + is_reversed + + const std::uint8_t + index + 0 + + +Gets whether the motor is reversed or not. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +EOVERFLOW - The index is non 0 + -gearset +index -The new motor gearset +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno. Example voidinitialize(){ pros::Motormotor(1); -motor.set_gearing(E_MOTOR_GEARSET_06); -std::cout<<"Gearset:"<<motor.get_gearing(); +std::cout<<"Isthemotorreversed?"<<motor.is_reversed(); +//Prints"0" } - + - + std::int32_t - std::int32_t set_gearing - (const pros::motor_gearset_e_t gearset, const std::uint8_t index=0) const - set_gearing - set_gearing + std::int32_t set_brake_mode + (const MotorBrake mode, const std::uint8_t index=0) const + set_brake_mode + set_brake_mode - const pros::motor_gearset_e_t - gearset + const MotorBrake + mode const std::uint8_t @@ -1260,10 +1342,9 @@ This function uses the following values of errno when an error state is reached: 0 -Sets one of the gear cartridge (red, green, blue) for the motor. +Sets one of Motor_Brake to the motor. -Usable with the C++ enum class and the C enum. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -1271,10 +1352,10 @@ This function uses the following values of errno when an error state is reached: EOVERFLOW - The index is non 0 -gearset +mode -The new motor gearset +The MotorBrake to set for the motor @@ -1290,24 +1371,24 @@ This function uses the following values of errno when an error state is reached: Example voidinitialize(){ pros::Motormotor(1); -motor.set_gearing(E_MOTOR_GEARSET_06); -std::cout<<"Gearset:"<<motor.get_gearing(); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); } - + - + std::int32_t - std::int32_t set_reversed - (const bool reverse, const std::uint8_t index=0) - set_reversed - set_reversed + std::int32_t set_brake_mode + (const pros::motor_brake_mode_e_t mode, const std::uint8_t index=0) const + set_brake_mode + set_brake_mode - const bool - reverse + const pros::motor_brake_mode_e_t + mode const std::uint8_t @@ -1315,20 +1396,20 @@ This function uses the following values of errno when an error state is reached: 0 -Sets the reverse flag for the motor. +Sets one of MotorBrake to the motor. -This will invert its movements and the values returned for its position. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 -reverse +mode -True reverses the motor, false is default direction +The MotorBrake to set for the motor @@ -1344,21 +1425,21 @@ This function uses the following values of errno when an error state is reached: Example voidinitialize(){ pros::Motormotor(1); -motor.set_reversed(true); -std::cout<<"Isthismotorreversed?"<<motor.is_reversed(); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); } - + - + std::int32_t - std::int32_t set_voltage_limit + std::int32_t set_current_limit (const std::int32_t limit, const std::uint8_t index=0) const - set_voltage_limit - set_voltage_limit + set_current_limit + set_current_limit const std::int32_t limit @@ -1369,47 +1450,59 @@ This function uses the following values of errno when an error state is reached: 0 -Sets the voltage limit for the motor in Volts. +Sets the current limit for the motor in mA. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 limit -The new voltage limit in Volts +The new current limit in mA + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidautonomous(){ +Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); -motor.set_voltage_limit(10000); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -//Themotorwillnotoutputmorethan10V -pros::delay(2); +motor.set_current_limit(1000); +while(true){ +motor=controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillreduceitsoutputat1000mAinsteadofthedefault2500mA +pros::delay(2); } } - + - + std::int32_t - std::int32_t set_zero_position - (const double position, const std::uint8_t index=0) const - set_zero_position - set_zero_position + std::int32_t set_encoder_units + (const MotorUnits units, const std::uint8_t index=0) const + set_encoder_units + set_encoder_units - const double - position + const MotorUnits + units const std::uint8_t @@ -1417,63 +1510,53 @@ This function uses the following values of errno when an error state is reached: 0 -Sets the position for the motor in its encoder units. +Sets one of MotorUnits for the motor encoder. -This will be the future reference point for the motor's "absolute" position. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 +Works with the C enum and the C++ enum class. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -position - - -The new reference position in its encoder units - - - - -index +units -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The new motor encoder units 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidautonomous(){ +Example voidinitialize(){ pros::Motormotor(1); -motor.move_absolute(100,100);//Moves100unitsforward -motor.move_absolute(100,100);//Thisdoesnotcauseamovement - -motor.set_zero_position(80); -motor.move_absolute(100,100);//Moves80unitsforward +motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); } - + - + std::int32_t - std::int32_t tare_position - (const std::uint8_t index=0) const - tare_position - tare_position + std::int32_t set_encoder_units + (const pros::motor_encoder_units_e_t units, const std::uint8_t index=0) const + set_encoder_units + set_encoder_units + + const pros::motor_encoder_units_e_t + units + const std::uint8_t index 0 -Sets the "absolute" zero position of the motor to its current position. +Sets one of MotorUnits for the motor encoder. +Works with the C enum and the C++ enum class. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -1488,75 +1571,51 @@ This function uses the following values of errno when an error state is reached: + + + +units + + +The new motor encoder units + + + 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidautonomous(){ +Example voidinitialize(){ pros::Motormotor(1); -motor.move_absolute(100,100);//Moves100unitsforward -motor.move_absolute(100,100);//Thisdoesnotcauseamovement - -motor.tare_position(); -motor.move_absolute(100,100);//Moves100unitsforward +motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); } + + - + - - std::int8_t - std::int8_t size - (void) const - size - size + + std::int32_t + std::int32_t set_gearing + (const MotorGears gearset, const std::uint8_t index=0) const + set_gearing + set_gearing - void + const MotorGears + gearset - -Gets the number of motors. - - -Always returns 1 - - - - - - - - - std::int8_t - std::int8_t get_port - (const std::uint8_t index=0) const - get_port - get_port const std::uint8_t index 0 -gets the port number of the motor - - -The signed port of the motor. (negative if the motor is reversed) - - - - - - - - - std::vector< Motor > - static std::vector<Motor> get_all_devices - () - get_all_devices - -Gets the brake mode that was set for the motor. +Sets one of the gear cartridge (red, green, blue) for the motor. +Usable with the C++ enum class and the C enum. This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups This function uses the following values of errno when an error state is reached: @@ -1567,208 +1626,179 @@ This function uses the following values of errno when an error state is reached: index -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + + +gearset + + +The new motor gearset -One of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidinitialize(){ pros::Motormotor(1); -motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); -std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +motor.set_gearing(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); } - + - - -
Additional motor functions
- These functions allow for motors and motor groups to be used interchangeably - - - std::vector< double > - std::vector<double> get_target_position_all - (void) const - get_target_position_all - get_target_position_all + + std::int32_t + std::int32_t set_gearing + (const pros::motor_gearset_e_t gearset, const std::uint8_t index=0) const + set_gearing + set_gearing - void + const pros::motor_gearset_e_t + gearset - -Gets a vector containing the target position set for the motor by the user. - - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing the target position in its encoder units or PROS_ERR_F if the operation failed, setting errno. - -Example voidautonomous(){ -pros::Motormotor(1); -motor.move_absolute(100,100); -std::cout<<"MotorTarget:"<<motor.get_target_position_all()[0]; -//Prints100 -} - - - - - - - - std::vector< std::int32_t > - std::vector<std::int32_t> get_target_velocity_all - (void) const - get_target_velocity_all - get_target_velocity_all - void + const std::uint8_t + index + 0 -Gets a vector containing the velocity commanded to the motor by the user. +Sets one of the gear cartridge (red, green, blue) for the motor. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing the commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno. +Usable with the C++ enum class and the C enum. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups -Example voidopcontrol(){ +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +gearset + + +The new motor gearset + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); -std::cout<<"MotorVelocity:"<<motor.get_target_velocity_all()[0]; -//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y -pros::delay(2); -} +motor.set_gearing(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); } - + - - std::vector< double > - std::vector<double> get_actual_velocity_all - (void) const - get_actual_velocity_all - get_actual_velocity_all + + std::int32_t + std::int32_t set_reversed + (const bool reverse, const std::uint8_t index=0) + set_reversed + set_reversed - void + const bool + reverse - -Gets a vector containing the actual velocity commanded of the motor. - - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing the motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. - -Example voidopcontrol(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); -std::cout<<"MotorVelocity:"<<motor.get_actual_velocity_all()[0]; -//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y -pros::delay(2); -} -} - - - - - - - - std::vector< std::int32_t > - std::vector<std::int32_t> get_current_draw_all - (void) const - get_current_draw_all - get_current_draw_all - void + const std::uint8_t + index + 0 -Gets a vector containing the current drawn by the motor in mA. +Sets the reverse flag for the motor. -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -A vector containing the motor's current in mA or PROS_ERR if the operation failed, setting errno. +This will invert its movements and the values returned for its position. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups -Example voidopcontrol(){ +This function uses the following values of errno when an error state is reached: +EOVERFLOW - The index is non 0 + + +reverse + + +True reverses the motor, false is default direction + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorCurrentDraw:"<<motor.get_current_draw_all()[0]; -pros::delay(2); -} +motor.set_reversed(true); +std::cout<<"Isthismotorreversed?"<<motor.is_reversed(); } - + - - std::vector< std::int32_t > - std::vector<std::int32_t> get_direction_all - (void) const - get_direction_all - get_direction_all + + std::int32_t + std::int32_t set_voltage_limit + (const std::int32_t limit, const std::uint8_t index=0) const + set_voltage_limit + set_voltage_limit - void + const std::int32_t + limit - -Gets a vector containing the direction of movement for the motor. - - -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -A vector containing 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. - -Example voidopcontrol(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorDirection:"<<motor.get_direction_all()[0]; -pros::delay(2); -} -} - - - - - - - - std::vector< double > - std::vector<double> get_efficiency_all - (void) const - get_efficiency_all - get_efficiency_all - void + const std::uint8_t + index + 0 -Gets a vector containing the efficiency of the motor in percent. +Sets the voltage limit for the motor in Volts. -An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving. -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -A vector containing The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +limit + + +The new voltage limit in Volts + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); + +motor.set_voltage_limit(10000); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorEfficiency:"<<motor.get_efficiency(); +//Themotorwillnotoutputmorethan10V pros::delay(2); } } @@ -1776,234 +1806,247 @@ This function uses the following values of errno when an error state is reached: - + - - std::vector< std::uint32_t > - std::vector<std::uint32_t> get_faults_all - (void) const - get_faults_all - get_faults_all + + std::int32_t + std::int32_t set_zero_position + (const double position, const std::uint8_t index=0) const + set_zero_position + set_zero_position - void + const double + position + + + const std::uint8_t + index + 0 -Gets a vector of the faults experienced by the motor. +Sets the position for the motor in its encoder units. -Compare this bitfield to the bitmasks in pros::motor_fault_e_t. -This function uses the following values of errno when an error state is reached: +This will be the future reference point for the motor's "absolute" position. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A bitfield containing the motor's faults. +EOVERFLOW - The index is non 0 + + +position + + +The new reference position in its encoder units + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorFaults:"<<motor.get_faults_all()[0]; -pros::delay(2); -} +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.set_zero_position(80); +motor.move_absolute(100,100);//Moves80unitsforward } - + - - std::vector< std::uint32_t > - std::vector<std::uint32_t> get_flags_all - (void) const - get_flags_all - get_flags_all + + std::int32_t + std::int32_t tare_position + (const std::uint8_t index=0) const + tare_position + tare_position - void + const std::uint8_t + index + 0 -Gets a vector of the flags set by the motor's operation. +Sets the "absolute" zero position of the motor to its current position. -Compare this bitfield to the bitmasks in pros::motor_flag_e_t. -This function uses the following values of errno when an error state is reached: +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A bitfield containing the motor's flags. +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorFaults:"<<motor.get_faults_all()[0]; -pros::delay(2); -} +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.tare_position(); +motor.move_absolute(100,100);//Moves100unitsforward } - + - - std::vector< double > - std::vector<double> get_position_all + + std::int8_t + std::int8_t size (void) const - get_position_all - get_position_all + size + size void -Gets a vector containing the absolute position of the motor in its encoder units. +Gets the number of motors. -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -A vector containing the motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. +Always returns 1 -Example voidopcontrol(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorPosition:"<<motor.get_position_all()[0]; -pros::delay(2); -} -} - + - + - - std::vector< double > - std::vector<double> get_power_all - (void) const - get_power_all - get_power_all + + std::int8_t + std::int8_t get_port + (const std::uint8_t index=0) const + get_port + get_port - void + const std::uint8_t + index + 0 -Gets a vector containing the power drawn by the motor in Watts. +gets the port number of the motor -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -A vector containing the motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. +The signed port of the motor. (negative if the motor is reversed) -Example voidopcontrol(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorPower:"<<motor.get_power_all()[0]; -pros::delay(2); -} -} - + - + - - std::vector< std::int32_t > - std::vector<std::int32_t> get_raw_position_all - (std::uint32_t *const timestamp) const - get_raw_position_all - get_raw_position_all - - std::uint32_t *const - timestamp - + + std::vector< Motor > + static std::vector<Motor> get_all_devices + () + get_all_devices -Gets a vector of the raw encoder count of the motor at a given timestamp. +Gets the brake mode that was set for the motor. -This function uses the following values of errno when an error state is reached: +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 -timestamp +index -A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index -A vector containing the raw encoder count at the given timestamp or PROS_ERR if the operation failed. +One of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. -Example voidopcontrol(){ -std::uint32_tnow=pros::millis(); +Example voidinitialize(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorPosition:"<<motor.get_raw_position(&now); -pros::delay(2); -} +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); } - + - + + +
Additional motor functions
+ These functions allow for motors and motor groups to be used interchangeably + + std::vector< double > - std::vector<double> get_temperature_all + std::vector<double> get_target_position_all (void) const - get_temperature_all - get_temperature_all + get_target_position_all + get_target_position_all void -Gets a vector of the temperature of the motor in degrees Celsius. +Gets a vector containing the target position set for the motor by the user. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector contaioning the motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. +A vector containing the target position in its encoder units or PROS_ERR_F if the operation failed, setting errno. -Example voidopcontrol(){ +Example voidautonomous(){ pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorTemperature:"<<motor.get_temperature_all()[0]; -pros::delay(2); -} +motor.move_absolute(100,100); +std::cout<<"MotorTarget:"<<motor.get_target_position_all()[0]; +//Prints100 } - + - - std::vector< double > - std::vector<double> get_torque_all + + std::vector< std::int32_t > + std::vector<std::int32_t> get_target_velocity_all (void) const - get_torque_all - get_torque_all + get_target_velocity_all + get_target_velocity_all void -Gets a vector of the torque generated by the motor in Newton Meters (Nm). +Gets a vector containing the velocity commanded to the motor by the user. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing the motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. +A vector containing the commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorTorque:"<<motor.get_torque(); +motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); +std::cout<<"MotorVelocity:"<<motor.get_target_velocity_all()[0]; +//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y pros::delay(2); } } @@ -2011,30 +2054,31 @@ This function uses the following values of errno when an error state is reached: - + - - std::vector< std::int32_t > - std::vector<std::int32_t> get_voltage_all + + std::vector< double > + std::vector<double> get_actual_velocity_all (void) const - get_voltage_all - get_voltage_all + get_actual_velocity_all + get_actual_velocity_all void -Gets a vector of the voltage delivered to the motor in millivolts. +Gets a vector containing the actual velocity commanded of the motor. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector of the motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. +A vector containing the motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"MotorVoltage:"<<motor.get_voltage_all()[0]; +motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); +std::cout<<"MotorVelocity:"<<motor.get_actual_velocity_all()[0]; +//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y pros::delay(2); } } @@ -2042,30 +2086,31 @@ This function uses the following values of errno when an error state is reached: - + - + std::vector< std::int32_t > - std::vector<std::int32_t> is_over_current_all + std::vector<std::int32_t> get_current_draw_all (void) const - is_over_current_all - is_over_current_all + get_current_draw_all + get_current_draw_all void -Checks if the motor is drawing over its current limit. +Gets a vector containing the current drawn by the motor in mA. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing 1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing the motor's current in mA or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"Isthemotoroveritscurrentlimit?:"<<motor.is_over_current_all()[0]; +std::cout<<"MotorCurrentDraw:"<<motor.get_current_draw_all()[0]; pros::delay(2); } } @@ -2073,30 +2118,31 @@ This function uses the following values of errno when an error state is reached: - + - + std::vector< std::int32_t > - std::vector<std::int32_t> is_over_temp_all + std::vector<std::int32_t> get_direction_all (void) const - is_over_temp_all - is_over_temp_all + get_direction_all + get_direction_all void -Gets the temperature limit flag for the motor. +Gets a vector containing the direction of movement for the motor. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing 1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -std::cout<<"Isthemotoroveritstemperaturelimit?:"<<motor.is_over_temp_all(); +std::cout<<"MotorDirection:"<<motor.get_direction_all()[0]; pros::delay(2); } } @@ -2104,56 +2150,32 @@ This function uses the following values of errno when an error state is reached: - - - - std::vector< MotorBrake > - std::vector<MotorBrake> get_brake_mode_all - (void) const - get_brake_mode_all - get_brake_mode_all - - void - - -Gets a vector containing the brake mode that was set for the motor. - - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -One of Motor_Brake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. - -Example voidinitialize(){ -pros::Motormotor(1); -motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); -std::cout<<"BrakeMode:"<<motor.get_brake_mode(); -} - - - - - + - - std::vector< std::int32_t > - std::vector<std::int32_t> get_current_limit_all + + std::vector< double > + std::vector<double> get_efficiency_all (void) const - get_current_limit_all - get_current_limit_all + get_efficiency_all + get_efficiency_all void -Gets a vector containing the current limit for the motor in mA. +Gets a vector containing the efficiency of the motor in percent. -The default value is 2500 mA. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing the motor's current limit in mA or PROS_ERR if the operation failed, setting errno. +An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); while(true){ -std::cout<<"MotorCurrentLimit:"<<motor.get_current_limit_all()[0]; +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorEfficiency:"<<motor.get_efficiency(); pros::delay(2); } } @@ -2161,1078 +2183,1061 @@ This function uses the following values of errno when an error state is reached: - + - - std::vector< MotorUnits > - std::vector<MotorUnits> get_encoder_units_all + + std::vector< std::uint32_t > + std::vector<std::uint32_t> get_faults_all (void) const - get_encoder_units_all - get_encoder_units_all + get_faults_all + get_faults_all void -Gets a vector containing the encoder units that were set for the motor. +Gets a vector of the faults experienced by the motor. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing One of Motor_Units according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed. +Compare this bitfield to the bitmasks in pros::motor_fault_e_t. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A bitfield containing the motor's faults. -Example voidinitialize(){ -pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); -std::cout<<"MotorEncoderUnits:"<<motor.get_encoder_units_all()[0]; +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorFaults:"<<motor.get_faults_all()[0]; +pros::delay(2); +} } - + - - std::vector< MotorGears > - std::vector<MotorGears> get_gearing_all + + std::vector< std::uint32_t > + std::vector<std::uint32_t> get_flags_all (void) const - get_gearing_all - get_gearing_all + get_flags_all + get_flags_all void -Gets a vector containing the gearset that was set for the motor. +Gets a vector of the flags set by the motor's operation. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing one of Motor_Gears according to what is set for the motor, or pros::Motor_Gears::invalid if the operation failed. +Compare this bitfield to the bitmasks in pros::motor_flag_e_t. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A bitfield containing the motor's flags. -Example voidinitialize(){ -pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); -std::cout<<"MotorGearing:"<<motor.get_gearing_all()[0]; +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorFaults:"<<motor.get_faults_all()[0]; +pros::delay(2); +} } - + - - std::vector< std::int8_t > - std::vector<std::int8_t> get_port_all - (void) const - get_port_all - get_port_all - - void - - -Gets returns a vector with all the port numbers in the motor group. - - -A vector containing the signed port of the motor. (negative if the motor is reversed) - - - - - - - - - std::vector< std::int32_t > - std::vector<std::int32_t> get_voltage_limit_all + + std::vector< double > + std::vector<double> get_position_all (void) const - get_voltage_limit_all - get_voltage_limit_all + get_position_all + get_position_all void -Gets a vector of the voltage limit set by the user. +Gets a vector containing the absolute position of the motor in its encoder units. -Default value is 0V, which means that there is no software limitation imposed on the voltage. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -A vector containing the motor's voltage limit in V or PROS_ERR if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing the motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -std::cout<<"MotorVoltageLimit:"<<motor.get_voltage_limit_all()[0]; +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_position_all()[0]; +pros::delay(2); +} } - + - - std::vector< std::int32_t > - std::vector<std::int32_t> is_reversed_all + + std::vector< double > + std::vector<double> get_power_all (void) const - is_reversed_all - is_reversed_all + get_power_all + get_power_all void -Gets a vector containg whether the motor is reversed or not. +Gets a vector containing the power drawn by the motor in Watts. -A vector containing 1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing the motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -std::cout<<"Isthemotorreversed?"<<motor.is_reversed_all()[0]; -//Prints"0" +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPower:"<<motor.get_power_all()[0]; +pros::delay(2); +} } - + - - std::int32_t - std::int32_t set_brake_mode_all - (const MotorBrake mode) const - set_brake_mode_all - set_brake_mode_all + + std::vector< std::int32_t > + std::vector<std::int32_t> get_raw_position_all + (std::uint32_t *const timestamp) const + get_raw_position_all + get_raw_position_all - const MotorBrake - mode + std::uint32_t *const + timestamp -Sets one of Motor_Brake to the motor. +Gets a vector of the raw encoder count of the motor at a given timestamp. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor -mode +timestamp -The Motor_Brake to set for the motor +A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector containing the raw encoder count at the given timestamp or PROS_ERR if the operation failed. -Example voidinitialize(){ +Example voidopcontrol(){ +std::uint32_tnow=pros::millis(); pros::Motormotor(1); -motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD); -std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_raw_position(&now); +pros::delay(2); +} } - + - - std::int32_t - std::int32_t set_brake_mode_all - (const pros::motor_brake_mode_e_t mode) const - set_brake_mode_all - set_brake_mode_all + + std::vector< double > + std::vector<double> get_temperature_all + (void) const + get_temperature_all + get_temperature_all - const pros::motor_brake_mode_e_t - mode + void -Sets one of Motor_Brake to the motor. +Gets a vector of the temperature of the motor in degrees Celsius. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - - -mode - - -The Motor_Brake to set for the motor - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector contaioning the motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD); -std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTemperature:"<<motor.get_temperature_all()[0]; +pros::delay(2); +} } - + - - std::int32_t - std::int32_t set_current_limit_all - (const std::int32_t limit) const - set_current_limit_all - set_current_limit_all + + std::vector< double > + std::vector<double> get_torque_all + (void) const + get_torque_all + get_torque_all - const std::int32_t - limit + void -Sets the current limit for the motor in mA. +Gets a vector of the torque generated by the motor in Newton Meters (Nm). This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - - -limit - - -The new current limit in mA - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector containing the motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. Example voidopcontrol(){ pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); - -motor.set_current_limit_all(1000); -while(true){ -motor=controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -//Themotorwillreduceitsoutputat1000mAinsteadofthedefault2500mA -pros::delay(2); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTorque:"<<motor.get_torque(); +pros::delay(2); } } - + - - std::int32_t - std::int32_t set_encoder_units_all - (const MotorUnits units) const - set_encoder_units_all - set_encoder_units_all + + std::vector< std::int32_t > + std::vector<std::int32_t> get_voltage_all + (void) const + get_voltage_all + get_voltage_all - const MotorUnits - units + void -Sets one of Motor_Units for the motor encoder. +Gets a vector of the voltage delivered to the motor in millivolts. -Works with the C enum and the C++ enum class. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector of the motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 - - - -units - - -The new motor encoder units - - - - -index - - -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorVoltage:"<<motor.get_voltage_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> is_over_current_all + (void) const + is_over_current_all + is_over_current_all + + void + + +Checks if the motor is drawing over its current limit. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing 1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES); -std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritscurrentlimit?:"<<motor.is_over_current_all()[0]; +pros::delay(2); +} } - - - + - - std::int32_t - std::int32_t set_encoder_units_all - (const pros::motor_encoder_units_e_t units) const - set_encoder_units_all - set_encoder_units_all + + std::vector< std::int32_t > + std::vector<std::int32_t> is_over_temp_all + (void) const + is_over_temp_all + is_over_temp_all - const pros::motor_encoder_units_e_t - units + void -Sets one of Motor_Units for the motor encoder. +Gets the temperature limit flag for the motor. -Works with the C enum and the C++ enum class. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - - -units - - -The new motor encoder units - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector containing 1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES); -std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritstemperaturelimit?:"<<motor.is_over_temp_all(); +pros::delay(2); +} } - + - - std::int32_t - std::int32_t set_gearing_all - (const MotorGears gearset) const - set_gearing_all - set_gearing_all + + std::vector< MotorBrake > + std::vector<MotorBrake> get_brake_mode_all + (void) const + get_brake_mode_all + get_brake_mode_all - const MotorGears - gearset + void -Sets one of the gear cartridge (red, green, blue) for the motor. +Gets a vector containing the brake mode that was set for the motor. -Usable with the C++ enum class and the C enum. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - - -gearset - - -The new motor gearset - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +One of Motor_Brake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. Example voidinitialize(){ pros::Motormotor(1); -motor.set_gearing_all(E_MOTOR_GEARSET_06); -std::cout<<"Gearset:"<<motor.get_gearing(); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); } - + - - std::int32_t - std::int32_t set_gearing_all - (const pros::motor_gearset_e_t gearset) const - set_gearing_all - set_gearing_all + + std::vector< std::int32_t > + std::vector<std::int32_t> get_current_limit_all + (void) const + get_current_limit_all + get_current_limit_all - const pros::motor_gearset_e_t - gearset + void -Sets one of the gear cartridge (red, green, blue) for the motor. +Gets a vector containing the current limit for the motor in mA. -Usable with the C++ enum class and the C enum. +The default value is 2500 mA. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - - -gearset - - -The new motor gearset - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector containing the motor's current limit in mA or PROS_ERR if the operation failed, setting errno. -Example voidinitialize(){ +Example voidopcontrol(){ pros::Motormotor(1); -motor.set_gearing_all(E_MOTOR_GEARSET_06); -std::cout<<"Gearset:"<<motor.get_gearing(); +while(true){ +std::cout<<"MotorCurrentLimit:"<<motor.get_current_limit_all()[0]; +pros::delay(2); +} } - + - - std::int32_t - std::int32_t set_reversed_all - (const bool reverse) - set_reversed_all - set_reversed_all + + std::vector< MotorUnits > + std::vector<MotorUnits> get_encoder_units_all + (void) const + get_encoder_units_all + get_encoder_units_all - const bool - reverse + void -Sets the reverse flag for the motor. +Gets a vector containing the encoder units that were set for the motor. -This will invert its movements and the values returned for its position. - - -reverse - - -True reverses the motor, false is default direction - - - -1 +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing One of Motor_Units according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed. Example voidinitialize(){ -pros::Motormotor(1); -motor.set_reversed_all(true); -std::cout<<"Isthismotorreversed?"<<motor.is_reversed(); +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorEncoderUnits:"<<motor.get_encoder_units_all()[0]; } - + - - std::int32_t - std::int32_t set_voltage_limit_all - (const std::int32_t limit) const - set_voltage_limit_all - set_voltage_limit_all + + std::vector< MotorGears > + std::vector<MotorGears> get_gearing_all + (void) const + get_gearing_all + get_gearing_all - const std::int32_t - limit + void -Sets the voltage limit for the motor in Volts. +Gets a vector containing the gearset that was set for the motor. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: -ENODEV - The port cannot be configured as a motor -EOVERFLOW - The index is non 0 - - -limit - - -The new voltage limit in Volts - - - - -index - - -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing one of Motor_Gears according to what is set for the motor, or pros::Motor_Gears::invalid if the operation failed. -Example voidautonomous(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); - -motor.set_voltage_limit_all(10000); -while(true){ -motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); -//Themotorwillnotoutputmorethan10V -pros::delay(2); -} +Example voidinitialize(){ +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorGearing:"<<motor.get_gearing_all()[0]; } - + - - std::int32_t - std::int32_t set_zero_position_all - (const double position) const - set_zero_position_all - set_zero_position_all + + std::vector< std::int8_t > + std::vector<std::int8_t> get_port_all + (void) const + get_port_all + get_port_all - const double - position + void -Sets the position for the motor in its encoder units. +Gets returns a vector with all the port numbers in the motor group. -This will be the future reference point for the motor's "absolute" position. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - - -position - - -The new reference position in its encoder units - - - -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector containing the signed port of the motor. (negative if the motor is reversed) -Example voidautonomous(){ -pros::Motormotor(1); -motor.move_absolute(100,100);//Moves100unitsforward -motor.move_absolute(100,100);//Thisdoesnotcauseamovement - -motor.set_zero_position_all(80); -motor.move_absolute(100,100);//Moves80unitsforward -} - + - + - - std::int32_t - std::int32_t tare_position_all + + std::vector< std::int32_t > + std::vector<std::int32_t> get_voltage_limit_all (void) const - tare_position_all - tare_position_all + get_voltage_limit_all + get_voltage_limit_all void -Sets the "absolute" zero position of the motor to its current position. +Gets a vector of the voltage limit set by the user. +Default value is 0V, which means that there is no software limitation imposed on the voltage. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +A vector containing the motor's voltage limit in V or PROS_ERR if the operation failed, setting errno. -Example voidautonomous(){ +Example voidinitialize(){ pros::Motormotor(1); -motor.move_absolute(100,100);//Moves100unitsforward -motor.move_absolute(100,100);//Thisdoesnotcauseamovement - -motor.tare_position_all(); -motor.move_absolute(100,100);//Moves100unitsforward +std::cout<<"MotorVoltageLimit:"<<motor.get_voltage_limit_all()[0]; } - + - - - - std::int8_t - std::int8_t _port - - _port + + std::vector< std::int32_t > + std::vector<std::int32_t> is_reversed_all + (void) const + is_reversed_all + is_reversed_all + + void + +Gets a vector containg whether the motor is reversed or not. +A vector containing 1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +std::cout<<"Isthemotorreversed?"<<motor.is_reversed_all()[0]; +//Prints"0" +} + - + - - - - - Motor - (const std::int8_t port, const pros::v5::MotorGears gearset=pros::v5::MotorGears::invalid, const pros::v5::MotorUnits encoder_units=pros::v5::MotorUnits::invalid) - Motor - - const std::int8_t - port - - - const pros::v5::MotorGears - gearset - pros::v5::MotorGears::invalid - + + std::int32_t + std::int32_t set_brake_mode_all + (const MotorBrake mode) const + set_brake_mode_all + set_brake_mode_all - const pros::v5::MotorUnits - encoder_units - pros::v5::MotorUnits::invalid + const MotorBrake + mode -Constructs a new Motor object. +Sets one of Motor_Brake to the motor. -This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports |1-21|. ENODEV - The port cannot be configured as a motor +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -port - - -The V5 port number from 1 to 21, or from -21 to -1 for reversed motors. A reversed motor will reverse the input or output movement functions and movement related telemetry in order to produce consistant behavior with non-reversed motors - - - - -gearset - - -= pros::v5::MotorGears::green Optional parameter for the gearset for the motor. Does not explicitly set the gearset if not specified or if the gearset is invalid - - - - -encoder_units +mode -= pros::v5::MotorUnits::degrees Optional parameter for the encoder units of the motor Does not explicitly set the gearset if not specified or if the gearset is invalid +The Motor_Brake to set for the motor -Example voidopcontrol(){ -Motorfirst_motor(1);//Createsamotoronport1withoutalteringgearsetorencoderunits -Motorreversed_motor(-2);//Createsareversedmotoronport1port1withoutalteringgearsetorencoderunits -Motorblue_motor(3,pros::v5::MotorGears::blue);//Createsamotoronport3withbluegearset -Motorrotations_motor(4,pros::v5::MotorGears::green,pros::v5::MotorUnits::rotations);port4w/rotations - +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); } - + - - - Motor - (const Device &device) - Motor + + std::int32_t + std::int32_t set_brake_mode_all + (const pros::motor_brake_mode_e_t mode) const + set_brake_mode_all + set_brake_mode_all - const Device & - device + const pros::motor_brake_mode_e_t + mode +Sets one of Motor_Brake to the motor. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +mode + + +The Motor_Brake to set for the motor + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + - + - + std::int32_t - std::int32_t move - (std::int32_t voltage) const - move - move + std::int32_t set_current_limit_all + (const std::int32_t limit) const + set_current_limit_all + set_current_limit_all - std::int32_t - voltage + const std::int32_t + limit -Sets the voltage for the motor from -127 to 127. +Sets the current limit for the motor in mA. -This is designed to map easily to the input from the controller's analog stick for simple opcontrol use. The actual behavior of the motor is analogous to use of motor_move(). This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -voltage +limit -The new motor voltage from -127 to 127 +The new current limit in mA 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidopcontrol(){ -pros::MotorMotor(1); +pros::Motormotor(1); pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor.move(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); -pros::delay(2); + +motor.set_current_limit_all(1000); +while(true){ +motor=controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillreduceitsoutputat1000mAinsteadofthedefault2500mA +pros::delay(2); } } - + - + std::int32_t - std::int32_t move_absolute - (const double position, const std::int32_t velocity) const - move_absolute - move_absolute - - const double - position - + std::int32_t set_encoder_units_all + (const MotorUnits units) const + set_encoder_units_all + set_encoder_units_all - const std::int32_t - velocity + const MotorUnits + units -Sets the target absolute position for the motor to move to. +Sets one of Motor_Units for the motor encoder. -This movement is relative to the position of the motor when initialized or the position when it was most recently reset with pros::Motor::set_zero_position(). -This function simply sets the target for the motor, it does not block program execution until the movement finishes. +Works with the C enum and the C++ enum class. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor - +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + -position +units -The absolute position to move to in the motor's encoder units +The new motor encoder units -velocity +index -The maximum allowable velocity for the movement in RPM +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidautonomous(){ +Example voidinitialize(){ pros::Motormotor(1); -motor.move_absolute(100,100);//Moves100unitsforward -while(!((motor.get_position()<105)&&(motor.get_position()>95))){ -//Continuerunningthisloopaslongasthemotorisnotwithin+-5unitsofitsgoal -pros::delay(2); -} -motor.move_absolute(100,100);//Thisdoesnotcauseamovement -while(!((motor.get_position()<105)&&(motor.get_position()>95))){ -pros::delay(2); -} -motor.tare_position(); -motor.move_absolute(100,100);//Moves100unitsforward -while(!((motor.get_position()<105)&&(motor.get_position()>95))){ -pros::delay(2); -} +motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); } + + - + - + std::int32_t - std::int32_t move_relative - (const double position, const std::int32_t velocity) const - move_relative - move_relative + std::int32_t set_encoder_units_all + (const pros::motor_encoder_units_e_t units) const + set_encoder_units_all + set_encoder_units_all - const double - position + const pros::motor_encoder_units_e_t + units + +Sets one of Motor_Units for the motor encoder. + + +Works with the C enum and the C++ enum class. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +units + + +The new motor encoder units + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +} + + + + + + + + std::int32_t + std::int32_t set_gearing_all + (const MotorGears gearset) const + set_gearing_all + set_gearing_all - const std::int32_t - velocity + const MotorGears + gearset -Sets the relative target position for the motor to move to. +Sets one of the gear cartridge (red, green, blue) for the motor. -This movement is relative to the current position of the motor as given in pros::Motor::motor_get_position(). Providing 10.0 as the position parameter would result in the motor moving clockwise 10 units (counter clockwise if reversed), no matter what the current position is. -This function simply sets the target for the motor, it does not block program execution until the movement finishes. - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +Usable with the C++ enum class and the C enum. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -position +gearset -The relative position to move to in the motor's encoder units +The new motor gearset - + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_gearing_all(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); +} + + + + + + + + std::int32_t + std::int32_t set_gearing_all + (const pros::motor_gearset_e_t gearset) const + set_gearing_all + set_gearing_all + + const pros::motor_gearset_e_t + gearset + + +Sets one of the gear cartridge (red, green, blue) for the motor. + + +Usable with the C++ enum class and the C enum. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + -velocity +gearset -The maximum allowable velocity for the movement in RPM +The new motor gearset 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. -Example voidautonomous(){ +Example voidinitialize(){ pros::Motormotor(1); -motor.move_relative(100,100);//Moves100unitsforward -while(!((motor.get_position()<105)&&(motor.get_position()>95))){ -//Continuerunningthisloopaslongasthemotorisnotwithin+-5unitsofitsgoal -pros::delay(2); -} -motor.move_relative(100,100);//Alsomoves100unitsforward -while(!((motor.get_position()<205)&&(motor.get_position()>195))){ -pros::delay(2); -} +motor.set_gearing_all(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); } - + - + std::int32_t - std::int32_t move_velocity - (const std::int32_t velocity) const - move_velocity - move_velocity + std::int32_t set_reversed_all + (const bool reverse) + set_reversed_all + set_reversed_all - const std::int32_t - velocity + const bool + reverse -Sets the velocity for the motor. +Sets the reverse flag for the motor. -This velocity corresponds to different actual speeds depending on the gearset used for the motor. This results in a range of +-100 for E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent speed, as opposed to setting the motor's voltage. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +This will invert its movements and the values returned for its position. -velocity +reverse -The new motor velocity from -+-100, +-200, or +-600 depending on the motor's gearset +True reverses the motor, false is default direction -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. +1 -Example voidautonomous(){ +Example voidinitialize(){ pros::Motormotor(1); -motor.move_velocity(100); -pros::delay(1000);//Moveat100RPMfor1second -motor.move_velocity(0); +motor.set_reversed_all(true); +std::cout<<"Isthismotorreversed?"<<motor.is_reversed(); } - + - + std::int32_t - std::int32_t move_voltage - (const std::int32_t voltage) const - move_voltage - move_voltage + std::int32_t set_voltage_limit_all + (const std::int32_t limit) const + set_voltage_limit_all + set_voltage_limit_all const std::int32_t - voltage + limit -Sets the output voltage for the motor from -12000 to 12000 in millivolts. +Sets the voltage limit for the motor in Volts. -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 -port +limit -The V5 port number from 1-21 +The new voltage limit in Volts -voltage +index -The new voltage value from -12000 to 12000 +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidautonomous(){ -motor.move_voltage(12000); -pros::delay(1000);//Moveatmaxvoltagefor1second -motor.move_voltage(0); -} - - - - - - - - std::int32_t - std::int32_t brake - (void) const - brake - brake - - void - - -Stops the motor using the currently configured brake mode. - - -This function sets motor velocity to zero, which will cause it to act according to the set brake mode. If brake mode is set to MOTOR_BRAKE_HOLD, this function may behave differently than calling move_absolute(0) or motor_move_relative(0). -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -1 if the operation was successful or PROS_ERR if the operation failed, setting errno. - -Example voidautonomous(){ -Motormotor(1); -motor.move_voltage(12000); -pros::delay(1000);//Moveatmaxvoltagefor1second -motor.brake(); +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); + +motor.set_voltage_limit_all(10000); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillnotoutputmorethan10V +pros::delay(2); +} } - + - + std::int32_t - std::int32_t modify_profiled_velocity - (const std::int32_t velocity) const - modify_profiled_velocity - modify_profiled_velocity + std::int32_t set_zero_position_all + (const double position) const + set_zero_position_all + set_zero_position_all - const std::int32_t - velocity + const double + position -Changes the output velocity for a profiled movement (motor_move_absolute or motor_move_relative). +Sets the position for the motor in its encoder units. -This will have no effect if the motor is not following a profiled movement. +This will be the future reference point for the motor's "absolute" position. This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor -velocity +position -The new motor velocity from +-100, +-200, or +-600 depending on the motor's gearset +The new reference position in its encoder units 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidautonomous(){ -pros::Motormotor(1); -motor.move_absolute(100,100); -pros::delay(100); -motor.modify_profiled_velocity(0);//Stopthemotorearly +pros::Motormotor(1); +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.set_zero_position_all(80); +motor.move_absolute(100,100);//Moves80unitsforward } - + - - double - double get_target_position - (const std::uint8_t index=0) const - get_target_position - get_target_position + + std::int32_t + std::int32_t tare_position_all + (void) const + tare_position_all + tare_position_all - const std::uint8_t - index - 0 + void -Gets the target position set for the motor by the user. +Sets the "absolute" zero position of the motor to its current position. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 - - -index - - -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index - - - -The target position in its encoder units or PROS_ERR_F if the operation failed, setting errno. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidautonomous(){ pros::Motormotor(1); -motor.move_absolute(100,100); -std::cout<<"MotorTarget:"<<motor.get_target_position(); -//Prints100 +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.tare_position_all(); +motor.move_absolute(100,100);//Moves100unitsforward } - + - - std::int32_t - std::int32_t get_target_velocity - (const std::uint8_t index=0) const - get_target_velocity - get_target_velocity + + + + std::int8_t + std::int8_t _port + + _port + + + + + + + + + + + + + Motor + (const std::int8_t port, const pros::v5::MotorGears gearset=pros::v5::MotorGears::invalid, const pros::v5::MotorUnits encoder_units=pros::v5::MotorUnits::invalid) + Motor - const std::uint8_t - index - 0 + const std::int8_t + port + + + const pros::v5::MotorGears + gearset + pros::v5::MotorGears::invalid + + + const pros::v5::MotorUnits + encoder_units + pros::v5::MotorUnits::invalid -Gets the velocity commanded to the motor by the user at the index specified. +Constructs a new Motor object. -This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups - -This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 +This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports |1-21|. ENODEV - The port cannot be configured as a motor -index +port -Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index +The V5 port number from 1 to 21, or from -21 to -1 for reversed motors. A reversed motor will reverse the input or output movement functions and movement related telemetry in order to produce consistant behavior with non-reversed motors + + + + +gearset + + += pros::v5::MotorGears::green Optional parameter for the gearset for the motor. Does not explicitly set the gearset if not specified or if the gearset is invalid + + + + +encoder_units + + += pros::v5::MotorUnits::degrees Optional parameter for the encoder units of the motor Does not explicitly set the gearset if not specified or if the gearset is invalid -The commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno. - Example voidopcontrol(){ -pros::Motormotor(1); -pros::Controllermaster(E_CONTROLLER_MASTER); -while(true){ -motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); -std::cout<<"MotorVelocity:"<<motor.get_target_velocity(); -//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y -pros::delay(2); -} +Motorfirst_motor(1);//Createsamotoronport1withoutalteringgearsetorencoderunits +Motorreversed_motor(-2);//Createsareversedmotoronport1port1withoutalteringgearsetorencoderunits +Motorblue_motor(3,pros::v5::MotorGears::blue);//Createsamotoronport3withbluegearset +Motorrotations_motor(4,pros::v5::MotorGears::green,pros::v5::MotorUnits::rotations);port4w/rotations + } - + + + + + Motor + (const Device &device) + Motor + + const Device & + device + + + + + + + + @@ -3275,63 +3280,63 @@ This function uses the following values of errno when an error state is reached: - + - pros::v5::Motor_port + pros::v5::Motor_port pros::v5::Motorbrake pros::v5::MotorDevice - pros::v5::Motorget_actual_velocity - pros::v5::Motorget_actual_velocity_all - pros::v5::Motorget_all_devices + pros::v5::Motorget_actual_velocity + pros::v5::Motorget_actual_velocity_all + pros::v5::Motorget_all_devices pros::v5::Motorget_all_devices - pros::v5::Motorget_brake_mode - pros::v5::Motorget_brake_mode_all - pros::v5::Motorget_current_draw - pros::v5::Motorget_current_draw_all - pros::v5::Motorget_current_limit - pros::v5::Motorget_current_limit_all - pros::v5::Motorget_direction - pros::v5::Motorget_direction_all - pros::v5::Motorget_efficiency - pros::v5::Motorget_efficiency_all - pros::v5::Motorget_encoder_units - pros::v5::Motorget_encoder_units_all - pros::v5::Motorget_faults - pros::v5::Motorget_faults_all - pros::v5::Motorget_flags - pros::v5::Motorget_flags_all - pros::v5::Motorget_gearing - pros::v5::Motorget_gearing_all + pros::v5::Motorget_brake_mode + pros::v5::Motorget_brake_mode_all + pros::v5::Motorget_current_draw + pros::v5::Motorget_current_draw_all + pros::v5::Motorget_current_limit + pros::v5::Motorget_current_limit_all + pros::v5::Motorget_direction + pros::v5::Motorget_direction_all + pros::v5::Motorget_efficiency + pros::v5::Motorget_efficiency_all + pros::v5::Motorget_encoder_units + pros::v5::Motorget_encoder_units_all + pros::v5::Motorget_faults + pros::v5::Motorget_faults_all + pros::v5::Motorget_flags + pros::v5::Motorget_flags_all + pros::v5::Motorget_gearing + pros::v5::Motorget_gearing_all pros::v5::Motorget_plugged_type pros::v5::Motorget_plugged_type - pros::v5::Motorget_port + pros::v5::Motorget_port pros::v5::Motorget_port - pros::v5::Motorget_port_all - pros::v5::Motorget_position - pros::v5::Motorget_position_all - pros::v5::Motorget_power - pros::v5::Motorget_power_all - pros::v5::Motorget_raw_position - pros::v5::Motorget_raw_position_all + pros::v5::Motorget_port_all + pros::v5::Motorget_position + pros::v5::Motorget_position_all + pros::v5::Motorget_power + pros::v5::Motorget_power_all + pros::v5::Motorget_raw_position + pros::v5::Motorget_raw_position_all pros::v5::Motorget_target_position - pros::v5::Motorget_target_position_all + pros::v5::Motorget_target_position_all pros::v5::Motorget_target_velocity - pros::v5::Motorget_target_velocity_all - pros::v5::Motorget_temperature - pros::v5::Motorget_temperature_all - pros::v5::Motorget_torque - pros::v5::Motorget_torque_all - pros::v5::Motorget_voltage - pros::v5::Motorget_voltage_all - pros::v5::Motorget_voltage_limit - pros::v5::Motorget_voltage_limit_all + pros::v5::Motorget_target_velocity_all + pros::v5::Motorget_temperature + pros::v5::Motorget_temperature_all + pros::v5::Motorget_torque + pros::v5::Motorget_torque_all + pros::v5::Motorget_voltage + pros::v5::Motorget_voltage_all + pros::v5::Motorget_voltage_limit + pros::v5::Motorget_voltage_limit_all pros::v5::Motoris_installed - pros::v5::Motoris_over_current - pros::v5::Motoris_over_current_all - pros::v5::Motoris_over_temp - pros::v5::Motoris_over_temp_all - pros::v5::Motoris_reversed - pros::v5::Motoris_reversed_all + pros::v5::Motoris_over_current + pros::v5::Motoris_over_current_all + pros::v5::Motoris_over_temp + pros::v5::Motoris_over_temp_all + pros::v5::Motoris_reversed + pros::v5::Motoris_reversed_all pros::v5::Motormodify_profiled_velocity pros::v5::MotorMotor pros::v5::MotorMotor @@ -3340,29 +3345,29 @@ This function uses the following values of errno when an error state is reached: pros::v5::Motormove_relative pros::v5::Motormove_velocity pros::v5::Motormove_voltage - pros::v5::Motorset_brake_mode - pros::v5::Motorset_brake_mode - pros::v5::Motorset_brake_mode_all - pros::v5::Motorset_brake_mode_all - pros::v5::Motorset_current_limit - pros::v5::Motorset_current_limit_all - pros::v5::Motorset_encoder_units - pros::v5::Motorset_encoder_units - pros::v5::Motorset_encoder_units_all - pros::v5::Motorset_encoder_units_all - pros::v5::Motorset_gearing - pros::v5::Motorset_gearing - pros::v5::Motorset_gearing_all - pros::v5::Motorset_gearing_all - pros::v5::Motorset_reversed - pros::v5::Motorset_reversed_all - pros::v5::Motorset_voltage_limit - pros::v5::Motorset_voltage_limit_all - pros::v5::Motorset_zero_position - pros::v5::Motorset_zero_position_all - pros::v5::Motorsize - pros::v5::Motortare_position - pros::v5::Motortare_position_all + pros::v5::Motorset_brake_mode + pros::v5::Motorset_brake_mode + pros::v5::Motorset_brake_mode_all + pros::v5::Motorset_brake_mode_all + pros::v5::Motorset_current_limit + pros::v5::Motorset_current_limit_all + pros::v5::Motorset_encoder_units + pros::v5::Motorset_encoder_units + pros::v5::Motorset_encoder_units_all + pros::v5::Motorset_encoder_units_all + pros::v5::Motorset_gearing + pros::v5::Motorset_gearing + pros::v5::Motorset_gearing_all + pros::v5::Motorset_gearing_all + pros::v5::Motorset_reversed + pros::v5::Motorset_reversed_all + pros::v5::Motorset_voltage_limit + pros::v5::Motorset_voltage_limit_all + pros::v5::Motorset_zero_position + pros::v5::Motorset_zero_position_all + pros::v5::Motorsize + pros::v5::Motortare_position + pros::v5::Motortare_position_all diff --git a/xml/group__cpp-abstract-motor.xml b/xml/group__cpp-abstract-motor.xml index 5f6912e..613f277 100644 --- a/xml/group__cpp-abstract-motor.xml +++ b/xml/group__cpp-abstract-motor.xml @@ -310,7 +310,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_target_position_all get_target_position_all - get_target_position_all + get_target_position_all void @@ -367,7 +367,7 @@ This function uses the following values of errno when an error state is reached: (void) const =0 get_target_velocity_all get_target_velocity_all - get_target_velocity_all + get_target_velocity_all void diff --git a/xml/group__cpp-motor-configuration.xml b/xml/group__cpp-motor-configuration.xml index de42286..9c95130 100644 --- a/xml/group__cpp-motor-configuration.xml +++ b/xml/group__cpp-motor-configuration.xml @@ -10,7 +10,7 @@ virtual MotorBrake get_brake_mode (const std::uint8_t index=0) const =0 get_brake_mode - get_brake_mode + get_brake_mode get_brake_mode const std::uint8_t @@ -45,7 +45,7 @@ (void) const =0 get_brake_mode_all get_brake_mode_all - get_brake_mode_all + get_brake_mode_all void @@ -76,7 +76,7 @@ virtual std::int32_t get_current_limit (const std::uint8_t index=0) const =0 get_current_limit - get_current_limit + get_current_limit get_current_limit const std::uint8_t @@ -112,7 +112,7 @@ (void) const =0 get_current_limit_all get_current_limit_all - get_current_limit_all + get_current_limit_all void @@ -144,7 +144,7 @@ virtual MotorUnits get_encoder_units (const std::uint8_t index=0) const =0 get_encoder_units - get_encoder_units + get_encoder_units get_encoder_units const std::uint8_t @@ -179,7 +179,7 @@ (void) const =0 get_encoder_units_all get_encoder_units_all - get_encoder_units_all + get_encoder_units_all void @@ -210,7 +210,7 @@ virtual MotorGears get_gearing (const std::uint8_t index=0) const =0 get_gearing - get_gearing + get_gearing get_gearing const std::uint8_t @@ -245,7 +245,7 @@ (void) const =0 get_gearing_all get_gearing_all - get_gearing_all + get_gearing_all void @@ -277,7 +277,7 @@ (void) const =0 get_port_all get_port_all - get_port_all + get_port_all void @@ -298,7 +298,7 @@ virtual std::int32_t get_voltage_limit (const std::uint8_t index=0) const =0 get_voltage_limit - get_voltage_limit + get_voltage_limit get_voltage_limit const std::uint8_t @@ -334,7 +334,7 @@ (void) const =0 get_voltage_limit_all get_voltage_limit_all - get_voltage_limit_all + get_voltage_limit_all void @@ -366,7 +366,7 @@ virtual std::int32_t is_reversed (const std::uint8_t index=0) const =0 is_reversed - is_reversed + is_reversed is_reversed const std::uint8_t @@ -401,7 +401,7 @@ (void) const =0 is_reversed_all is_reversed_all - is_reversed_all + is_reversed_all void @@ -432,7 +432,7 @@ virtual std::int32_t set_brake_mode (const MotorBrake mode, const std::uint8_t index=0) const =0 set_brake_mode - set_brake_mode + set_brake_mode set_brake_mode const MotorBrake @@ -479,7 +479,7 @@ virtual std::int32_t set_brake_mode (const pros::motor_brake_mode_e_t mode, const std::uint8_t index=0) const =0 set_brake_mode - set_brake_mode + set_brake_mode set_brake_mode const pros::motor_brake_mode_e_t @@ -518,7 +518,7 @@ (const MotorBrake mode) const =0 set_brake_mode_all set_brake_mode_all - set_brake_mode_all + set_brake_mode_all const MotorBrake mode @@ -551,7 +551,7 @@ (const pros::motor_brake_mode_e_t mode) const =0 set_brake_mode_all set_brake_mode_all - set_brake_mode_all + set_brake_mode_all const pros::motor_brake_mode_e_t mode @@ -583,7 +583,7 @@ virtual std::int32_t set_current_limit (const std::int32_t limit, const std::uint8_t index=0) const =0 set_current_limit - set_current_limit + set_current_limit set_current_limit const std::int32_t @@ -630,7 +630,7 @@ (const std::int32_t limit) const =0 set_current_limit_all set_current_limit_all - set_current_limit_all + set_current_limit_all const std::int32_t limit @@ -662,7 +662,7 @@ virtual std::int32_t set_encoder_units (const MotorUnits units, const std::uint8_t index=0) const =0 set_encoder_units - set_encoder_units + set_encoder_units set_encoder_units const MotorUnits @@ -709,7 +709,7 @@ virtual std::int32_t set_encoder_units (const pros::motor_encoder_units_e_t units, const std::uint8_t index=0) const =0 set_encoder_units - set_encoder_units + set_encoder_units set_encoder_units const pros::motor_encoder_units_e_t @@ -748,7 +748,7 @@ (const MotorUnits units) const =0 set_encoder_units_all set_encoder_units_all - set_encoder_units_all + set_encoder_units_all const MotorUnits units @@ -781,7 +781,7 @@ (const pros::motor_encoder_units_e_t units) const =0 set_encoder_units_all set_encoder_units_all - set_encoder_units_all + set_encoder_units_all const pros::motor_encoder_units_e_t units @@ -813,7 +813,7 @@ virtual std::int32_t set_gearing (const MotorGears gearset, const std::uint8_t index=0) const =0 set_gearing - set_gearing + set_gearing set_gearing const MotorGears @@ -860,7 +860,7 @@ virtual std::int32_t set_gearing (const pros::motor_gearset_e_t gearset, const std::uint8_t index=0) const =0 set_gearing - set_gearing + set_gearing set_gearing const pros::motor_gearset_e_t @@ -899,7 +899,7 @@ (const MotorGears gearset) const =0 set_gearing_all set_gearing_all - set_gearing_all + set_gearing_all const MotorGears gearset @@ -932,7 +932,7 @@ (const pros::motor_gearset_e_t gearset) const =0 set_gearing_all set_gearing_all - set_gearing_all + set_gearing_all const pros::motor_gearset_e_t gearset @@ -964,7 +964,7 @@ virtual std::int32_t set_reversed (const bool reverse, const std::uint8_t index=0)=0 set_reversed - set_reversed + set_reversed set_reversed const bool @@ -1012,7 +1012,7 @@ (const bool reverse)=0 set_reversed_all set_reversed_all - set_reversed_all + set_reversed_all const bool reverse @@ -1044,7 +1044,7 @@ virtual std::int32_t set_voltage_limit (const std::int32_t limit, const std::uint8_t index=0) const =0 set_voltage_limit - set_voltage_limit + set_voltage_limit set_voltage_limit const std::int32_t @@ -1091,7 +1091,7 @@ (const std::int32_t limit) const =0 set_voltage_limit_all set_voltage_limit_all - set_voltage_limit_all + set_voltage_limit_all const std::int32_t limit @@ -1123,7 +1123,7 @@ virtual std::int32_t set_zero_position (const double position, const std::uint8_t index=0) const =0 set_zero_position - set_zero_position + set_zero_position set_zero_position const double @@ -1171,7 +1171,7 @@ (const double position) const =0 set_zero_position_all set_zero_position_all - set_zero_position_all + set_zero_position_all const double position @@ -1203,7 +1203,7 @@ virtual std::int32_t tare_position (const std::uint8_t index=0) const =0 tare_position - tare_position + tare_position tare_position const std::uint8_t @@ -1238,7 +1238,7 @@ (void) const =0 tare_position_all tare_position_all - tare_position_all + tare_position_all void @@ -1269,7 +1269,7 @@ virtual std::int8_t get_port (const std::uint8_t index=0) const =0 get_port - get_port + get_port get_port const std::uint8_t @@ -1303,7 +1303,7 @@ virtual std::int8_t size (void) const =0 size - size + size size void diff --git a/xml/group__cpp-motor-telemetry.xml b/xml/group__cpp-motor-telemetry.xml index a66863f..29f16b9 100644 --- a/xml/group__cpp-motor-telemetry.xml +++ b/xml/group__cpp-motor-telemetry.xml @@ -11,7 +11,7 @@ virtual double get_actual_velocity (const std::uint8_t index=0) const =0 get_actual_velocity - get_actual_velocity + get_actual_velocity get_actual_velocity const std::uint8_t @@ -46,7 +46,7 @@ (void) const =0 get_actual_velocity_all get_actual_velocity_all - get_actual_velocity_all + get_actual_velocity_all void @@ -68,7 +68,7 @@ virtual std::int32_t get_current_draw (const std::uint8_t index=0) const =0 get_current_draw - get_current_draw + get_current_draw get_current_draw const std::uint8_t @@ -103,7 +103,7 @@ (void) const =0 get_current_draw_all get_current_draw_all - get_current_draw_all + get_current_draw_all void @@ -126,7 +126,7 @@ virtual std::int32_t get_direction (const std::uint8_t index=0) const =0 get_direction - get_direction + get_direction get_direction const std::uint8_t @@ -161,7 +161,7 @@ (void) const =0 get_direction_all get_direction_all - get_direction_all + get_direction_all void @@ -184,7 +184,7 @@ virtual double get_efficiency (const std::uint8_t index=0) const =0 get_efficiency - get_efficiency + get_efficiency get_efficiency const std::uint8_t @@ -220,7 +220,7 @@ (void) const =0 get_efficiency_all get_efficiency_all - get_efficiency_all + get_efficiency_all void @@ -244,7 +244,7 @@ virtual std::uint32_t get_faults (const std::uint8_t index=0) const =0 get_faults - get_faults + get_faults get_faults const std::uint8_t @@ -280,7 +280,7 @@ (void) const =0 get_faults_all get_faults_all - get_faults_all + get_faults_all void @@ -304,7 +304,7 @@ virtual std::uint32_t get_flags (const std::uint8_t index=0) const =0 get_flags - get_flags + get_flags get_flags const std::uint8_t @@ -340,7 +340,7 @@ (void) const =0 get_flags_all get_flags_all - get_flags_all + get_flags_all void @@ -364,7 +364,7 @@ virtual double get_position (const std::uint8_t index=0) const =0 get_position - get_position + get_position get_position const std::uint8_t @@ -399,7 +399,7 @@ (void) const =0 get_position_all get_position_all - get_position_all + get_position_all void @@ -422,7 +422,7 @@ virtual double get_power (const std::uint8_t index=0) const =0 get_power - get_power + get_power get_power const std::uint8_t @@ -457,7 +457,7 @@ (void) const =0 get_power_all get_power_all - get_power_all + get_power_all void @@ -480,7 +480,7 @@ virtual std::int32_t get_raw_position (std::uint32_t *const timestamp, const std::uint8_t index=0) const =0 get_raw_position - get_raw_position + get_raw_position get_raw_position std::uint32_t *const @@ -527,7 +527,7 @@ (std::uint32_t *const timestamp) const =0 get_raw_position_all get_raw_position_all - get_raw_position_all + get_raw_position_all std::uint32_t *const timestamp @@ -560,7 +560,7 @@ virtual double get_temperature (const std::uint8_t index=0) const =0 get_temperature - get_temperature + get_temperature get_temperature const std::uint8_t @@ -595,7 +595,7 @@ (void) const =0 get_temperature_all get_temperature_all - get_temperature_all + get_temperature_all void @@ -626,7 +626,7 @@ virtual double get_torque (const std::uint8_t index=0) const =0 get_torque - get_torque + get_torque get_torque const std::uint8_t @@ -661,7 +661,7 @@ (void) const =0 get_torque_all get_torque_all - get_torque_all + get_torque_all void @@ -692,7 +692,7 @@ virtual std::int32_t get_voltage (const std::uint8_t index=0) const =0 get_voltage - get_voltage + get_voltage get_voltage const std::uint8_t @@ -727,7 +727,7 @@ (void) const =0 get_voltage_all get_voltage_all - get_voltage_all + get_voltage_all void @@ -758,7 +758,7 @@ virtual std::int32_t is_over_current (const std::uint8_t index=0) const =0 is_over_current - is_over_current + is_over_current is_over_current const std::uint8_t @@ -793,7 +793,7 @@ (void) const =0 is_over_current_all is_over_current_all - is_over_current_all + is_over_current_all void @@ -824,7 +824,7 @@ virtual std::int32_t is_over_temp (const std::uint8_t index=0) const =0 is_over_temp - is_over_temp + is_over_temp is_over_temp const std::uint8_t @@ -859,7 +859,7 @@ (void) const =0 is_over_temp_all is_over_temp_all - is_over_temp_all + is_over_temp_all void diff --git a/xml/group__cpp-motors.xml b/xml/group__cpp-motors.xml index 0141e33..155e65d 100644 --- a/xml/group__cpp-motors.xml +++ b/xml/group__cpp-motors.xml @@ -4,86 +4,10 @@ cpp-motors Motors C++ API motors.hpp - - - - Motor - (const std::int8_t port, const pros::v5::MotorGears gearset=pros::v5::MotorGears::invalid, const pros::v5::MotorUnits encoder_units=pros::v5::MotorUnits::invalid) - Motor - - const std::int8_t - port - - - const pros::v5::MotorGears - gearset - pros::v5::MotorGears::invalid - - - const pros::v5::MotorUnits - encoder_units - pros::v5::MotorUnits::invalid - - -Constructs a new Motor object. - - -This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports |1-21|. ENODEV - The port cannot be configured as a motor - - -port - - -The V5 port number from 1 to 21, or from -21 to -1 for reversed motors. A reversed motor will reverse the input or output movement functions and movement related telemetry in order to produce consistant behavior with non-reversed motors - - - - -gearset - - -= pros::v5::MotorGears::green Optional parameter for the gearset for the motor. Does not explicitly set the gearset if not specified or if the gearset is invalid - - - - -encoder_units - - -= pros::v5::MotorUnits::degrees Optional parameter for the encoder units of the motor Does not explicitly set the gearset if not specified or if the gearset is invalid - - - -Example voidopcontrol(){ -Motorfirst_motor(1);//Createsamotoronport1withoutalteringgearsetorencoderunits -Motorreversed_motor(-2);//Createsareversedmotoronport1port1withoutalteringgearsetorencoderunits -Motorblue_motor(3,pros::v5::MotorGears::blue);//Createsamotoronport3withbluegearset -Motorrotations_motor(4,pros::v5::MotorGears::green,pros::v5::MotorUnits::rotations);port4w/rotations - -} - - - - - - - - - Motor - (const Device &device) - Motor - - const Device & - device - - - - - - - - - + +
Motor movement functions
+ These functions allow programmers to make motors move + std::int32_t std::int32_t move @@ -123,7 +47,7 @@ - + std::int32_t @@ -187,7 +111,7 @@ This function uses the following values of errno when an error state is reached: - + std::int32_t @@ -246,7 +170,7 @@ This function uses the following values of errno when an error state is reached: - + std::int32_t @@ -285,7 +209,7 @@ This function uses the following values of errno when an error state is reached: - + std::int32_t @@ -330,7 +254,7 @@ This function uses the following values of errno when an error state is reached: - + std::int32_t @@ -350,7 +274,7 @@ This function uses the following values of errno when an error state is reached: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno. Example voidautonomous(){ -Motormotor(1); +Motormotor(1); motor.move_voltage(12000); pros::delay(1000);//Moveatmaxvoltagefor1second motor.brake(); @@ -359,7 +283,7 @@ This function uses the following values of errno when an error state is reached: - + std::int32_t @@ -398,8 +322,13 @@ This function uses the following values of errno when an error state is reached: - + + + +
Motor telemetry functions
+ These functions allow programmers to collect telemetry from motors + double double get_target_position @@ -439,7 +368,7 @@ This function uses the following values of errno when an error state is reached: - + std::int32_t @@ -484,7 +413,2864 @@ This function uses the following values of errno when an error state is reached: - + + + + double + double get_actual_velocity + (const std::uint8_t index=0) const + get_actual_velocity + get_actual_velocity + + const std::uint8_t + index + 0 + + +Gets the actual velocity of the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +while(true){ +motor=controller_get_analog(E_CONTROLLER_MASTER,E_CONTROLLER_ANALOG_LEFT_Y); +printf("Actualvelocity:%lf\n",motor.get_actual_velocity()); +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t get_current_draw + (const std::uint8_t index=0) const + get_current_draw + get_current_draw + + const std::uint8_t + index + 0 + + +Gets the current drawn by the motor in mA. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's current in mA or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorCurrentDraw:"<<motor.get_current_draw(); +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t get_direction + (const std::uint8_t index=0) const + get_direction + get_direction + + const std::uint8_t + index + 0 + + +Gets the direction of movement for the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorDirection:"<<motor.get_direction(); +pros::delay(2); +} +} + + + + + + + + double + double get_efficiency + (const std::uint8_t index=0) const + get_efficiency + get_efficiency + + const std::uint8_t + index + 0 + + +Gets the efficiency of the motor in percent. + + +An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorEfficiency:"<<motor.get_efficiency(); +pros::delay(2); +} +} + + + + + + + + std::uint32_t + std::uint32_t get_faults + (const std::uint8_t index=0) const + get_faults + get_faults + + const std::uint8_t + index + 0 + + +Gets the faults experienced by the motor. + + +Compare this bitfield to the bitmasks in pros::motor_fault_e_t. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +A bitfield containing the motor's faults. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorFaults:"<<motor.get_faults();pros::delay(2); +} +} + + + + + + + + std::uint32_t + std::uint32_t get_flags + (const std::uint8_t index=0) const + get_flags + get_flags + + const std::uint8_t + index + 0 + + +Gets the flags set by the motor's operation. + + +Compare this bitfield to the bitmasks in pros::motor_flag_e_t. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +A bitfield containing the motor's flags. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorFaults:"<<motor.get_faults(); +pros::delay(2); +} +} + + + + + + + + double + double get_position + (const std::uint8_t index=0) const + get_position + get_position + + const std::uint8_t + index + 0 + + +Gets the absolute position of the motor in its encoder units. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_position(); +pros::delay(2); +} +} + + + + + + + + double + double get_power + (const std::uint8_t index=0) const + get_power + get_power + + const std::uint8_t + index + 0 + + +Gets the power drawn by the motor in Watts. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPower:"<<motor.get_power(); +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t get_raw_position + (std::uint32_t *const timestamp, const std::uint8_t index=0) const + get_raw_position + get_raw_position + + std::uint32_t *const + timestamp + + + const std::uint8_t + index + 0 + + +Gets the raw encoder count of the motor at a given timestamp. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +timestamp + + +A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The raw encoder count at the given timestamp or PROS_ERR if the operation failed. + +Example voidopcontrol(){ +std::uint32_tnow=pros::millis(); +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_raw_position(&now); +pros::delay(2); +} +} + + + + + + + + double + double get_temperature + (const std::uint8_t index=0) const + get_temperature + get_temperature + + const std::uint8_t + index + 0 + + +Gets the temperature of the motor in degrees Celsius. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTemperature:"<<motor.get_temperature(); +pros::delay(2); +} +} + + + + + + + + double + double get_torque + (const std::uint8_t index=0) const + get_torque + get_torque + + const std::uint8_t + index + 0 + + +Gets the torque generated by the motor in Newton Meters (Nm). + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTorque:"<<motor.get_torque(); +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t get_voltage + (const std::uint8_t index=0) const + get_voltage + get_voltage + + const std::uint8_t + index + 0 + + +Gets the voltage delivered to the motor in millivolts. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorVoltage:"<<motor.get_voltage(); +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t is_over_current + (const std::uint8_t index=0) const + is_over_current + is_over_current + + const std::uint8_t + index + 0 + + +Checks if the motor is drawing over its current limit. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritscurrentlimit?:"<<motor.is_over_current(); +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t is_over_temp + (const std::uint8_t index=0) const + is_over_temp + is_over_temp + + const std::uint8_t + index + 0 + + +Gets the temperature limit flag for the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritstemperaturelimit?:"<<motor.is_over_temp(); +pros::delay(2); +} +} + + + + + + + + +
Motor configuration functions
+ These functions allow programmers to configure the behavior of motors + + + MotorBrake + MotorBrake get_brake_mode + (const std::uint8_t index=0) const + get_brake_mode + get_brake_mode + + const std::uint8_t + index + 0 + + +Gets the brake mode that was set for the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +One of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::int32_t + std::int32_t get_current_limit + (const std::uint8_t index=0) const + get_current_limit + get_current_limit + + const std::uint8_t + index + 0 + + +Gets the current limit for the motor in mA. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +The motor's current limit in mA or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +while(true){ +std::cout<<"MotorCurrentLimit:"<<motor.get_current_limit(); +pros::delay(2); +} +} + + + + + + + + MotorUnits + MotorUnits get_encoder_units + (const std::uint8_t index=0) const + get_encoder_units + get_encoder_units + + const std::uint8_t + index + 0 + + +Gets the encoder units that were set for the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +One of MotorUnits according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed. + +Example voidinitialize(){ +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorEncoderUnits:"<<motor.get_encoder_units(); +} + + + + + + + + MotorGears + MotorGears get_gearing + (const std::uint8_t index=0) const + get_gearing + get_gearing + + const std::uint8_t + index + 0 + + +Gets the gearset that was set for the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +One of MotorGears according to what is set for the motor, or pros::MotorGears::invalid if the operation failed. + +Example voidinitialize(){ +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorGearing:"<<motor.get_gearing(); +} + + + + + + + + std::int32_t + std::int32_t get_voltage_limit + (const std::uint8_t index=0) const + get_voltage_limit + get_voltage_limit + + const std::uint8_t + index + 0 + + +Gets the voltage limit set by the user. + + +Default value is 0V, which means that there is no software limitation imposed on the voltage. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +Example voidinitialize(){ +pros::Motormotor(1); +std::cout<<"MotorVoltageLimit:"<<motor.get_voltage_limit(); +} + + + + + + + + std::int32_t + std::int32_t is_reversed + (const std::uint8_t index=0) const + is_reversed + is_reversed + + const std::uint8_t + index + 0 + + +Gets whether the motor is reversed or not. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +std::cout<<"Isthemotorreversed?"<<motor.is_reversed(); +//Prints"0" +} + + + + + + + + std::int32_t + std::int32_t set_brake_mode + (const MotorBrake mode, const std::uint8_t index=0) const + set_brake_mode + set_brake_mode + + const MotorBrake + mode + + + const std::uint8_t + index + 0 + + +Sets one of Motor_Brake to the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +mode + + +The MotorBrake to set for the motor + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::int32_t + std::int32_t set_brake_mode + (const pros::motor_brake_mode_e_t mode, const std::uint8_t index=0) const + set_brake_mode + set_brake_mode + + const pros::motor_brake_mode_e_t + mode + + + const std::uint8_t + index + 0 + + +Sets one of MotorBrake to the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +mode + + +The MotorBrake to set for the motor + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::int32_t + std::int32_t set_current_limit + (const std::int32_t limit, const std::uint8_t index=0) const + set_current_limit + set_current_limit + + const std::int32_t + limit + + + const std::uint8_t + index + 0 + + +Sets the current limit for the motor in mA. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +limit + + +The new current limit in mA + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); + +motor.set_current_limit(1000); +while(true){ +motor=controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillreduceitsoutputat1000mAinsteadofthedefault2500mA +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t set_encoder_units + (const MotorUnits units, const std::uint8_t index=0) const + set_encoder_units + set_encoder_units + + const MotorUnits + units + + + const std::uint8_t + index + 0 + + +Sets one of MotorUnits for the motor encoder. + + +Works with the C enum and the C++ enum class. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +units + + +The new motor encoder units + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +} + + + + + + + + std::int32_t + std::int32_t set_encoder_units + (const pros::motor_encoder_units_e_t units, const std::uint8_t index=0) const + set_encoder_units + set_encoder_units + + const pros::motor_encoder_units_e_t + units + + + const std::uint8_t + index + 0 + + +Sets one of MotorUnits for the motor encoder. + + +Works with the C enum and the C++ enum class. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + + + + +units + + +The new motor encoder units + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +} + + + + + + + + + + std::int32_t + std::int32_t set_gearing + (const MotorGears gearset, const std::uint8_t index=0) const + set_gearing + set_gearing + + const MotorGears + gearset + + + const std::uint8_t + index + 0 + + +Sets one of the gear cartridge (red, green, blue) for the motor. + + +Usable with the C++ enum class and the C enum. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + + +gearset + + +The new motor gearset + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_gearing(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); +} + + + + + + + + std::int32_t + std::int32_t set_gearing + (const pros::motor_gearset_e_t gearset, const std::uint8_t index=0) const + set_gearing + set_gearing + + const pros::motor_gearset_e_t + gearset + + + const std::uint8_t + index + 0 + + +Sets one of the gear cartridge (red, green, blue) for the motor. + + +Usable with the C++ enum class and the C enum. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +gearset + + +The new motor gearset + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_gearing(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); +} + + + + + + + + std::int32_t + std::int32_t set_reversed + (const bool reverse, const std::uint8_t index=0) + set_reversed + set_reversed + + const bool + reverse + + + const std::uint8_t + index + 0 + + +Sets the reverse flag for the motor. + + +This will invert its movements and the values returned for its position. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +EOVERFLOW - The index is non 0 + + +reverse + + +True reverses the motor, false is default direction + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_reversed(true); +std::cout<<"Isthismotorreversed?"<<motor.is_reversed(); +} + + + + + + + + std::int32_t + std::int32_t set_voltage_limit + (const std::int32_t limit, const std::uint8_t index=0) const + set_voltage_limit + set_voltage_limit + + const std::int32_t + limit + + + const std::uint8_t + index + 0 + + +Sets the voltage limit for the motor in Volts. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +limit + + +The new voltage limit in Volts + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); + +motor.set_voltage_limit(10000); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillnotoutputmorethan10V +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t set_zero_position + (const double position, const std::uint8_t index=0) const + set_zero_position + set_zero_position + + const double + position + + + const std::uint8_t + index + 0 + + +Sets the position for the motor in its encoder units. + + +This will be the future reference point for the motor's "absolute" position. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +position + + +The new reference position in its encoder units + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.set_zero_position(80); +motor.move_absolute(100,100);//Moves80unitsforward +} + + + + + + + + std::int32_t + std::int32_t tare_position + (const std::uint8_t index=0) const + tare_position + tare_position + + const std::uint8_t + index + 0 + + +Sets the "absolute" zero position of the motor to its current position. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.tare_position(); +motor.move_absolute(100,100);//Moves100unitsforward +} + + + + + + + + std::int8_t + std::int8_t size + (void) const + size + size + + void + + +Gets the number of motors. + + +Always returns 1 + + + + + + + + + std::vector< Motor > + static std::vector<Motor> get_all_devices + () + get_all_devices + +Gets the brake mode that was set for the motor. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +One of MotorBrake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::int8_t + std::int8_t get_port + (const std::uint8_t index=0) const + get_port + get_port + + const std::uint8_t + index + 0 + + +gets the port number of the motor + + +The signed port of the motor. (negative if the motor is reversed) + + + + + + + + + +
Additional motor functions
+ These functions allow for motors and motor groups to be used interchangeably + + + std::vector< double > + std::vector<double> get_target_position_all + (void) const + get_target_position_all + get_target_position_all + + void + + +Gets a vector containing the target position set for the motor by the user. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing the target position in its encoder units or PROS_ERR_F if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +motor.move_absolute(100,100); +std::cout<<"MotorTarget:"<<motor.get_target_position_all()[0]; +//Prints100 +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_target_velocity_all + (void) const + get_target_velocity_all + get_target_velocity_all + + void + + +Gets a vector containing the velocity commanded to the motor by the user. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing the commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); +std::cout<<"MotorVelocity:"<<motor.get_target_velocity_all()[0]; +//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y +pros::delay(2); +} +} + + + + + + + + std::vector< double > + std::vector<double> get_actual_velocity_all + (void) const + get_actual_velocity_all + get_actual_velocity_all + + void + + +Gets a vector containing the actual velocity commanded of the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing the motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y)); +std::cout<<"MotorVelocity:"<<motor.get_actual_velocity_all()[0]; +//PrintsthevalueofE_CONTROLLER_ANALOG_LEFT_Y +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_current_draw_all + (void) const + get_current_draw_all + get_current_draw_all + + void + + +Gets a vector containing the current drawn by the motor in mA. + + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing the motor's current in mA or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorCurrentDraw:"<<motor.get_current_draw_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_direction_all + (void) const + get_direction_all + get_direction_all + + void + + +Gets a vector containing the direction of movement for the motor. + + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorDirection:"<<motor.get_direction_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< double > + std::vector<double> get_efficiency_all + (void) const + get_efficiency_all + get_efficiency_all + + void + + +Gets a vector containing the efficiency of the motor in percent. + + +An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorEfficiency:"<<motor.get_efficiency(); +pros::delay(2); +} +} + + + + + + + + std::vector< std::uint32_t > + std::vector<std::uint32_t> get_faults_all + (void) const + get_faults_all + get_faults_all + + void + + +Gets a vector of the faults experienced by the motor. + + +Compare this bitfield to the bitmasks in pros::motor_fault_e_t. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A bitfield containing the motor's faults. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorFaults:"<<motor.get_faults_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< std::uint32_t > + std::vector<std::uint32_t> get_flags_all + (void) const + get_flags_all + get_flags_all + + void + + +Gets a vector of the flags set by the motor's operation. + + +Compare this bitfield to the bitmasks in pros::motor_flag_e_t. +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A bitfield containing the motor's flags. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorFaults:"<<motor.get_faults_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< double > + std::vector<double> get_position_all + (void) const + get_position_all + get_position_all + + void + + +Gets a vector containing the absolute position of the motor in its encoder units. + + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing the motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_position_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< double > + std::vector<double> get_power_all + (void) const + get_power_all + get_power_all + + void + + +Gets a vector containing the power drawn by the motor in Watts. + + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +A vector containing the motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPower:"<<motor.get_power_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_raw_position_all + (std::uint32_t *const timestamp) const + get_raw_position_all + get_raw_position_all + + std::uint32_t *const + timestamp + + +Gets a vector of the raw encoder count of the motor at a given timestamp. + + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor + + +timestamp + + +A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied + + + +A vector containing the raw encoder count at the given timestamp or PROS_ERR if the operation failed. + +Example voidopcontrol(){ +std::uint32_tnow=pros::millis(); +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorPosition:"<<motor.get_raw_position(&now); +pros::delay(2); +} +} + + + + + + + + std::vector< double > + std::vector<double> get_temperature_all + (void) const + get_temperature_all + get_temperature_all + + void + + +Gets a vector of the temperature of the motor in degrees Celsius. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector contaioning the motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTemperature:"<<motor.get_temperature_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< double > + std::vector<double> get_torque_all + (void) const + get_torque_all + get_torque_all + + void + + +Gets a vector of the torque generated by the motor in Newton Meters (Nm). + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing the motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorTorque:"<<motor.get_torque(); +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_voltage_all + (void) const + get_voltage_all + get_voltage_all + + void + + +Gets a vector of the voltage delivered to the motor in millivolts. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector of the motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"MotorVoltage:"<<motor.get_voltage_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> is_over_current_all + (void) const + is_over_current_all + is_over_current_all + + void + + +Checks if the motor is drawing over its current limit. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing 1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritscurrentlimit?:"<<motor.is_over_current_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> is_over_temp_all + (void) const + is_over_temp_all + is_over_temp_all + + void + + +Gets the temperature limit flag for the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing 1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +std::cout<<"Isthemotoroveritstemperaturelimit?:"<<motor.is_over_temp_all(); +pros::delay(2); +} +} + + + + + + + + std::vector< MotorBrake > + std::vector<MotorBrake> get_brake_mode_all + (void) const + get_brake_mode_all + get_brake_mode_all + + void + + +Gets a vector containing the brake mode that was set for the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +One of Motor_Brake, according to what was set for the motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_current_limit_all + (void) const + get_current_limit_all + get_current_limit_all + + void + + +Gets a vector containing the current limit for the motor in mA. + + +The default value is 2500 mA. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing the motor's current limit in mA or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +while(true){ +std::cout<<"MotorCurrentLimit:"<<motor.get_current_limit_all()[0]; +pros::delay(2); +} +} + + + + + + + + std::vector< MotorUnits > + std::vector<MotorUnits> get_encoder_units_all + (void) const + get_encoder_units_all + get_encoder_units_all + + void + + +Gets a vector containing the encoder units that were set for the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing One of Motor_Units according to what is set for the motor or E_MOTOR_ENCODER_INVALID if the operation failed. + +Example voidinitialize(){ +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorEncoderUnits:"<<motor.get_encoder_units_all()[0]; +} + + + + + + + + std::vector< MotorGears > + std::vector<MotorGears> get_gearing_all + (void) const + get_gearing_all + get_gearing_all + + void + + +Gets a vector containing the gearset that was set for the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing one of Motor_Gears according to what is set for the motor, or pros::Motor_Gears::invalid if the operation failed. + +Example voidinitialize(){ +pros::Motormotor(1,E_MOTOR_GEARSET_06,E_MOTOR_ENCODER_COUNTS); +std::cout<<"MotorGearing:"<<motor.get_gearing_all()[0]; +} + + + + + + + + std::vector< std::int8_t > + std::vector<std::int8_t> get_port_all + (void) const + get_port_all + get_port_all + + void + + +Gets returns a vector with all the port numbers in the motor group. + + +A vector containing the signed port of the motor. (negative if the motor is reversed) + + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> get_voltage_limit_all + (void) const + get_voltage_limit_all + get_voltage_limit_all + + void + + +Gets a vector of the voltage limit set by the user. + + +Default value is 0V, which means that there is no software limitation imposed on the voltage. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +A vector containing the motor's voltage limit in V or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +std::cout<<"MotorVoltageLimit:"<<motor.get_voltage_limit_all()[0]; +} + + + + + + + + std::vector< std::int32_t > + std::vector<std::int32_t> is_reversed_all + (void) const + is_reversed_all + is_reversed_all + + void + + +Gets a vector containg whether the motor is reversed or not. + + +A vector containing 1 if the motor has been reversed and 0 if the motor was not reversed, or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +std::cout<<"Isthemotorreversed?"<<motor.is_reversed_all()[0]; +//Prints"0" +} + + + + + + + + std::int32_t + std::int32_t set_brake_mode_all + (const MotorBrake mode) const + set_brake_mode_all + set_brake_mode_all + + const MotorBrake + mode + + +Sets one of Motor_Brake to the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +mode + + +The Motor_Brake to set for the motor + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::int32_t + std::int32_t set_brake_mode_all + (const pros::motor_brake_mode_e_t mode) const + set_brake_mode_all + set_brake_mode_all + + const pros::motor_brake_mode_e_t + mode + + +Sets one of Motor_Brake to the motor. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +mode + + +The Motor_Brake to set for the motor + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_brake_mode_all(pros::E_MOTOR_BRAKE_HOLD); +std::cout<<"BrakeMode:"<<motor.get_brake_mode(); +} + + + + + + + + std::int32_t + std::int32_t set_current_limit_all + (const std::int32_t limit) const + set_current_limit_all + set_current_limit_all + + const std::int32_t + limit + + +Sets the current limit for the motor in mA. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +limit + + +The new current limit in mA + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidopcontrol(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); + +motor.set_current_limit_all(1000); +while(true){ +motor=controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillreduceitsoutputat1000mAinsteadofthedefault2500mA +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t set_encoder_units_all + (const MotorUnits units) const + set_encoder_units_all + set_encoder_units_all + + const MotorUnits + units + + +Sets one of Motor_Units for the motor encoder. + + +Works with the C enum and the C++ enum class. +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + + +units + + +The new motor encoder units + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +} + + + + + + + + + + std::int32_t + std::int32_t set_encoder_units_all + (const pros::motor_encoder_units_e_t units) const + set_encoder_units_all + set_encoder_units_all + + const pros::motor_encoder_units_e_t + units + + +Sets one of Motor_Units for the motor encoder. + + +Works with the C enum and the C++ enum class. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +units + + +The new motor encoder units + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES); +std::cout<<"EncoderUnits:"<<motor.get_encoder_units(); +} + + + + + + + + std::int32_t + std::int32_t set_gearing_all + (const MotorGears gearset) const + set_gearing_all + set_gearing_all + + const MotorGears + gearset + + +Sets one of the gear cartridge (red, green, blue) for the motor. + + +Usable with the C++ enum class and the C enum. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +gearset + + +The new motor gearset + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_gearing_all(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); +} + + + + + + + + std::int32_t + std::int32_t set_gearing_all + (const pros::motor_gearset_e_t gearset) const + set_gearing_all + set_gearing_all + + const pros::motor_gearset_e_t + gearset + + +Sets one of the gear cartridge (red, green, blue) for the motor. + + +Usable with the C++ enum class and the C enum. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +gearset + + +The new motor gearset + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_gearing_all(E_MOTOR_GEARSET_06); +std::cout<<"Gearset:"<<motor.get_gearing(); +} + + + + + + + + std::int32_t + std::int32_t set_reversed_all + (const bool reverse) + set_reversed_all + set_reversed_all + + const bool + reverse + + +Sets the reverse flag for the motor. + + +This will invert its movements and the values returned for its position. + + +reverse + + +True reverses the motor, false is default direction + + + +1 + +Example voidinitialize(){ +pros::Motormotor(1); +motor.set_reversed_all(true); +std::cout<<"Isthismotorreversed?"<<motor.is_reversed(); +} + + + + + + + + std::int32_t + std::int32_t set_voltage_limit_all + (const std::int32_t limit) const + set_voltage_limit_all + set_voltage_limit_all + + const std::int32_t + limit + + +Sets the voltage limit for the motor in Volts. + + +This is one of many Motor functions that takes in an optional index parameter. This parameter can be ignored by most users but exists to give a shared base class for motors and motor groups + +This function uses the following values of errno when an error state is reached: +ENODEV - The port cannot be configured as a motor +EOVERFLOW - The index is non 0 + + +limit + + +The new voltage limit in Volts + + + + +index + + +Optional parameter. The zero-indexed index of the motor to get the target position of. By default index is 0, and will return an error for a non-zero index + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +pros::Controllermaster(E_CONTROLLER_MASTER); + +motor.set_voltage_limit_all(10000); +while(true){ +motor=master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y); +//Themotorwillnotoutputmorethan10V +pros::delay(2); +} +} + + + + + + + + std::int32_t + std::int32_t set_zero_position_all + (const double position) const + set_zero_position_all + set_zero_position_all + + const double + position + + +Sets the position for the motor in its encoder units. + + +This will be the future reference point for the motor's "absolute" position. +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor + + +position + + +The new reference position in its encoder units + + + +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.set_zero_position_all(80); +motor.move_absolute(100,100);//Moves80unitsforward +} + + + + + + + + std::int32_t + std::int32_t tare_position_all + (void) const + tare_position_all + tare_position_all + + void + + +Sets the "absolute" zero position of the motor to its current position. + + +This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor +1 if the operation was successful or PROS_ERR if the operation failed, setting errno. + +Example voidautonomous(){ +pros::Motormotor(1); +motor.move_absolute(100,100);//Moves100unitsforward +motor.move_absolute(100,100);//Thisdoesnotcauseamovement + +motor.tare_position_all(); +motor.move_absolute(100,100);//Moves100unitsforward +} + + + + + + + + + + std::int8_t + std::int8_t _port + + _port + + + + + + + + + + + + + Motor + (const std::int8_t port, const pros::v5::MotorGears gearset=pros::v5::MotorGears::invalid, const pros::v5::MotorUnits encoder_units=pros::v5::MotorUnits::invalid) + Motor + + const std::int8_t + port + + + const pros::v5::MotorGears + gearset + pros::v5::MotorGears::invalid + + + const pros::v5::MotorUnits + encoder_units + pros::v5::MotorUnits::invalid + + +Constructs a new Motor object. + + +This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports |1-21|. ENODEV - The port cannot be configured as a motor + + +port + + +The V5 port number from 1 to 21, or from -21 to -1 for reversed motors. A reversed motor will reverse the input or output movement functions and movement related telemetry in order to produce consistant behavior with non-reversed motors + + + + +gearset + + += pros::v5::MotorGears::green Optional parameter for the gearset for the motor. Does not explicitly set the gearset if not specified or if the gearset is invalid + + + + +encoder_units + + += pros::v5::MotorUnits::degrees Optional parameter for the encoder units of the motor Does not explicitly set the gearset if not specified or if the gearset is invalid + + + +Example voidopcontrol(){ +Motorfirst_motor(1);//Createsamotoronport1withoutalteringgearsetorencoderunits +Motorreversed_motor(-2);//Createsareversedmotoronport1port1withoutalteringgearsetorencoderunits +Motorblue_motor(3,pros::v5::MotorGears::blue);//Createsamotoronport3withbluegearset +Motorrotations_motor(4,pros::v5::MotorGears::green,pros::v5::MotorUnits::rotations);port4w/rotations + +} + + + + + + + + + Motor + (const Device &device) + Motor + + const Device & + device + + + + + + + + + + + const pros::Motor + const pros::Motor pros::v5::literals::operator""_mtr + (const unsigned long long int m) + operator""_mtr + + const unsigned long long int + m + + + + + + + + + + + const pros::Motor + const pros::Motor pros::v5::literals::operator""_rmtr + (const unsigned long long int m) + operator""_rmtr + + const unsigned long long int + m + + + + + + + + diff --git a/xml/index.xml b/xml/index.xml index e919807..c1296af 100644 --- a/xml/index.xml +++ b/xml/index.xml @@ -508,77 +508,6 @@ get_port pros::v5::Motor - get_actual_velocity - get_current_draw - get_direction - get_efficiency - get_faults - get_flags - get_position - get_power - get_raw_position - get_temperature - get_torque - get_voltage - is_over_current - is_over_temp - get_brake_mode - get_current_limit - get_encoder_units - get_gearing - get_voltage_limit - is_reversed - set_brake_mode - set_brake_mode - set_current_limit - set_encoder_units - set_encoder_units - set_gearing - set_gearing - set_reversed - set_voltage_limit - set_zero_position - tare_position - size - get_port - get_all_devices - get_target_position_all - get_target_velocity_all - get_actual_velocity_all - get_current_draw_all - get_direction_all - get_efficiency_all - get_faults_all - get_flags_all - get_position_all - get_power_all - get_raw_position_all - get_temperature_all - get_torque_all - get_voltage_all - is_over_current_all - is_over_temp_all - get_brake_mode_all - get_current_limit_all - get_encoder_units_all - get_gearing_all - get_port_all - get_voltage_limit_all - is_reversed_all - set_brake_mode_all - set_brake_mode_all - set_current_limit_all - set_encoder_units_all - set_encoder_units_all - set_gearing_all - set_gearing_all - set_reversed_all - set_voltage_limit_all - set_zero_position_all - tare_position_all - _port - Motor - Motor move move_absolute move_relative @@ -588,79 +517,79 @@ modify_profiled_velocity get_target_position get_target_velocity - - pros::v5::Motor - get_actual_velocity - get_current_draw - get_direction - get_efficiency - get_faults - get_flags - get_position - get_power - get_raw_position - get_temperature - get_torque - get_voltage - is_over_current - is_over_temp - get_brake_mode - get_current_limit - get_encoder_units - get_gearing - get_voltage_limit - is_reversed - set_brake_mode - set_brake_mode - set_current_limit - set_encoder_units - set_encoder_units - set_gearing - set_gearing - set_reversed - set_voltage_limit - set_zero_position - tare_position - size - get_port - get_all_devices - get_target_position_all - get_target_velocity_all - get_actual_velocity_all - get_current_draw_all - get_direction_all - get_efficiency_all - get_faults_all - get_flags_all - get_position_all - get_power_all - get_raw_position_all - get_temperature_all - get_torque_all - get_voltage_all - is_over_current_all - is_over_temp_all - get_brake_mode_all - get_current_limit_all - get_encoder_units_all - get_gearing_all - get_port_all - get_voltage_limit_all - is_reversed_all - set_brake_mode_all - set_brake_mode_all - set_current_limit_all - set_encoder_units_all - set_encoder_units_all - set_gearing_all - set_gearing_all - set_reversed_all - set_voltage_limit_all - set_zero_position_all - tare_position_all - _port + get_actual_velocity + get_current_draw + get_direction + get_efficiency + get_faults + get_flags + get_position + get_power + get_raw_position + get_temperature + get_torque + get_voltage + is_over_current + is_over_temp + get_brake_mode + get_current_limit + get_encoder_units + get_gearing + get_voltage_limit + is_reversed + set_brake_mode + set_brake_mode + set_current_limit + set_encoder_units + set_encoder_units + set_gearing + set_gearing + set_reversed + set_voltage_limit + set_zero_position + tare_position + size + get_port + get_all_devices + get_target_position_all + get_target_velocity_all + get_actual_velocity_all + get_current_draw_all + get_direction_all + get_efficiency_all + get_faults_all + get_flags_all + get_position_all + get_power_all + get_raw_position_all + get_temperature_all + get_torque_all + get_voltage_all + is_over_current_all + is_over_temp_all + get_brake_mode_all + get_current_limit_all + get_encoder_units_all + get_gearing_all + get_port_all + get_voltage_limit_all + is_reversed_all + set_brake_mode_all + set_brake_mode_all + set_current_limit_all + set_encoder_units_all + set_encoder_units_all + set_gearing_all + set_gearing_all + set_reversed_all + set_voltage_limit_all + set_zero_position_all + tare_position_all + _port Motor Motor + + pros::v5::Motor move move_absolute move_relative @@ -670,6 +599,77 @@ modify_profiled_velocity get_target_position get_target_velocity + get_actual_velocity + get_current_draw + get_direction + get_efficiency + get_faults + get_flags + get_position + get_power + get_raw_position + get_temperature + get_torque + get_voltage + is_over_current + is_over_temp + get_brake_mode + get_current_limit + get_encoder_units + get_gearing + get_voltage_limit + is_reversed + set_brake_mode + set_brake_mode + set_current_limit + set_encoder_units + set_encoder_units + set_gearing + set_gearing + set_reversed + set_voltage_limit + set_zero_position + tare_position + size + get_port + get_all_devices + get_target_position_all + get_target_velocity_all + get_actual_velocity_all + get_current_draw_all + get_direction_all + get_efficiency_all + get_faults_all + get_flags_all + get_position_all + get_power_all + get_raw_position_all + get_temperature_all + get_torque_all + get_voltage_all + is_over_current_all + is_over_temp_all + get_brake_mode_all + get_current_limit_all + get_encoder_units_all + get_gearing_all + get_port_all + get_voltage_limit_all + is_reversed_all + set_brake_mode_all + set_brake_mode_all + set_current_limit_all + set_encoder_units_all + set_encoder_units_all + set_gearing_all + set_gearing_all + set_reversed_all + set_voltage_limit_all + set_zero_position_all + tare_position_all + _port + Motor + Motor pros::motor_pid_full_s kf @@ -2195,8 +2195,8 @@ operator""_dist operator""_gps operator""_imu - operator""_mtr - operator""_rmtr + operator""_mtr + operator""_rmtr operator""_opt operator""_rot @@ -3148,8 +3148,8 @@ motor_get_voltage_limit motors.hpp - operator""_mtr - operator""_rmtr + operator""_mtr + operator""_rmtr optical.h optical_get_hue @@ -4315,8 +4315,6 @@ motor_get_voltage cpp-motors - Motor - Motor move move_absolute move_relative @@ -4326,6 +4324,79 @@ modify_profiled_velocity get_target_position get_target_velocity + get_actual_velocity + get_current_draw + get_direction + get_efficiency + get_faults + get_flags + get_position + get_power + get_raw_position + get_temperature + get_torque + get_voltage + is_over_current + is_over_temp + get_brake_mode + get_current_limit + get_encoder_units + get_gearing + get_voltage_limit + is_reversed + set_brake_mode + set_brake_mode + set_current_limit + set_encoder_units + set_encoder_units + set_gearing + set_gearing + set_reversed + set_voltage_limit + set_zero_position + tare_position + size + get_all_devices + get_port + get_target_position_all + get_target_velocity_all + get_actual_velocity_all + get_current_draw_all + get_direction_all + get_efficiency_all + get_faults_all + get_flags_all + get_position_all + get_power_all + get_raw_position_all + get_temperature_all + get_torque_all + get_voltage_all + is_over_current_all + is_over_temp_all + get_brake_mode_all + get_current_limit_all + get_encoder_units_all + get_gearing_all + get_port_all + get_voltage_limit_all + is_reversed_all + set_brake_mode_all + set_brake_mode_all + set_current_limit_all + set_encoder_units_all + set_encoder_units_all + set_gearing_all + set_gearing_all + set_reversed_all + set_voltage_limit_all + set_zero_position_all + tare_position_all + _port + Motor + Motor + operator""_mtr + operator""_rmtr c-optical optical_get_hue diff --git a/xml/motors_8hpp.xml b/xml/motors_8hpp.xml index d019d0d..c7ee8f1 100644 --- a/xml/motors_8hpp.xml +++ b/xml/motors_8hpp.xml @@ -180,7 +180,7 @@ pros::v5 pros::v5::literals - + const pros::Motor const pros::Motor pros::v5::literals::operator""_mtr (const unsigned long long int m) @@ -195,9 +195,9 @@ - + - + const pros::Motor const pros::Motor pros::v5::literals::operator""_rmtr (const unsigned long long int m) @@ -212,7 +212,7 @@ - + diff --git a/xml/namespacepros_1_1v5_1_1literals.xml b/xml/namespacepros_1_1v5_1_1literals.xml index f1879b5..14f72c6 100644 --- a/xml/namespacepros_1_1v5_1_1literals.xml +++ b/xml/namespacepros_1_1v5_1_1literals.xml @@ -66,7 +66,7 @@ - + const pros::Motor const pros::Motor pros::v5::literals::operator""_mtr (const unsigned long long int m) @@ -81,9 +81,9 @@ - + - + const pros::Motor const pros::Motor pros::v5::literals::operator""_rmtr (const unsigned long long int m) @@ -98,7 +98,7 @@ - + const pros::Optical