Constructor
new EV3Motor(parent, index, type)
Construct a EV3 Motor instance, which could be of type 'largeMotor' or 'mediumMotor'.
Parameters:
| Name | Type | Description |
|---|---|---|
parent |
EV3 | the EV3 peripheral which owns this motor. |
index |
int | the zero-based index of this motor on its parent peripheral. |
type |
string | the type of motor (i.e. 'largeMotor' or 'mediumMotor'). |
Members
(private) _coastDelay :number
A delay, in milliseconds, to add to coasting, to make sure that a brake first takes effect if one was sent.
Type:
- number
(private) _commandID :number
An ID for the current coast command, to help override multiple coast commands sent in succession.
Type:
- number
(private) _direction :number
This motor's current direction: 1 for "clockwise" or -1 for "counterclockwise"
Type:
- number
(private) _index :int
The zero-based index of this motor on its parent peripheral.
Type:
- int
(private) _parent :EV3
The EV3 peripheral which owns this motor.
Type:
(private) _position :number
This motor's current position, in the range [0,360].
Type:
- number
(private) _power :number
This motor's current power level, in the range [0,100].
Type:
- number
(private) _type :string
The type of EV3 motor this could be: 'largeMotor' or 'mediumMotor'.
Type:
- string
direction
direction
position
position
power
power
type
type
Methods
_portMask(port) → {number}
Return a port value for the EV3 that is in the format for 'output bit field' as 1/2/4/8, generally needed for motor ports, instead of the typical 0/1/2/3. The documentation in the 'EV3 Firmware Developer Kit' for motor port arguments is sometimes mistaken, but we believe motor ports are mostly addressed this way.
Parameters:
| Name | Type | Description |
|---|---|---|
port |
number | the port number to convert to an 'output bit field'. |
Returns:
- the converted port number.
- Type
- number
_runValues(run) → {array}
Generate motor run values for a given input.
Parameters:
| Name | Type | Description |
|---|---|---|
run |
number | run input. |
Returns:
- run values as a byte array.
- Type
- array
coast()
Set the motor to coast.
coastAfter(time)
Set the motor to coast after a specified amount of time.
Parameters:
| Name | Type | Description |
|---|---|---|
time |
number | the time in milliseconds. |
turnOnFor(milliseconds)
Turn this motor on for a specific duration. Found in the 'EV3 Firmware Developer Kit', page 56, at https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits.
Opcode arguments: (Data8) LAYER – Specify chain layer number [0 - 3] (Data8) NOS – Output bit field [0x00 – 0x0F] (Data8) SPEED – Power level, [-100 – 100] (Data32) STEP1 – Time in milliseconds for ramp up (Data32) STEP2 – Time in milliseconds for continues run (Data32) STEP3 – Time in milliseconds for ramp down (Data8) BRAKE - Specify break level [0: Float, 1: Break]
Parameters:
| Name | Type | Description |
|---|---|---|
milliseconds |
number | run the motor for this long. |