Motors

The Motor class

• constructor
  • port: a MotorPort specifying a port to use, or a port number from 0-4
• read-only properties
  • position: number of tacho ticks that the motor has counted since it was plugged in
  • type: the type of motor (either 'tacho' or 'minitacho')
• properties
  • targetSpeed: a number between -100 and +100 to try to drive the motor at
  • run: indicates whether to run the motor or not
  • regulationMode: indicates if the speed should be actively adjusted to stay at the specified target
  • stopMode: indicates the desired action for stopping the motor (described below)
• methods
  • startMotor: starts the motor according to the provided options as described below
  • runServo: Moves the motor accurately according to it's measured position. The available options can be found below.
  • brake: stops the motor by momentarily reversing it
  • hold: stops the motor and actively holds it in place
  • coast: stops powering the motor and lets it coast

Related types and object properties

• MotorPort
  • A
  • B
  • C
  • D
• Servo run options
  • targetSpeed: number. The target speed, on a scale of -100 to +100.
  • positionMode: number. If set to "absolute" the position specified will be treated absolutely.
  • stopMode: string.
    • "coast" Allows the motor to freely coast when it stops.
    • "brake" Will short the motor terminals (don't worry, it's safe) to try to immediately stop the motors.
    • "hold" Actively runs the motor after it stops to try to keep it in the same place (recommended).
• Motor run options
  • targetSpeed: number. The target speed, on a scale of -100 to +100.
  • run: boolean. Indicates whether to actually run the motor. Use this to stop the motor according to the stopMode.
  • regulationMode: boolean. Indicates whether to actively regulate power to maintain speed.
  • time: number. Controls how long (in milliseconds) the motor will run for. Leave undefined for unlimited.
  • stopMode: string.
    • "coast" Allows the motor to freely coast when it stops.
    • "brake" Will short the motor terminals (don't worry, it's safe) to try to immediately stop the motors.
    • "hold" Actively runs the motor after it stops to try to keep it in the same place.

Note: Words highlighted like this are property names.