Motor
Glossary Item Box
The Generic Motor service enables you control a single motor (and access its state). This is different than the Generic Differential Drive service which coordinates two motor services (typically for driving a robot).
This service provides the following operations, but only as requests. Notifications for a motor's state generally require an encoder service.
| Operation | Description |
|---|---|
| Get | Returns the entire state of the motor. |
| MotorReplace | Changes the state of the motor. |
| SetMotorPower | Sets a motor power setting. This operation specifies the target power setting using TargetPower, a value from -1.0 to 1.0. (Negative values mean reverse). |
Not every motor is part of the drive unit of a robot. The general motor state is represented by the following properties.
| Name | Type | Description |
|---|---|---|
| CurrentPower | double | Indicates the current motor power, a value from -1.0 to 1.0, where negative values indicate running in reverse. |
| HardwareIdentifier | int | Identifies the hardware port the encoder uses. |
| Name | string | Specifies a descriptive name for the motor. |
| Pose | Pose | Indicates the position and orientation of the motor. |
| PowerScalingFactor | double | Indicates the multiplier applied to CurrentPower to set the power for the motor. |
| ReversePolarity | Boolean | Indicates the direction (polarity) of the power to the motor. Setting this to true reverses the motor. |
The service also supports the definition of a wheeled motors and includes the following properties.
| Name | Type | Description |
|---|---|---|
| WheelSpeed | double | Indicates the current speed setting of the wheels in meters per second. |
| Name | string | Specifies a descriptive name for the motor. |
| MotorState | MotorState | Indicates the basic properties of the motor. |
| Radius | double | Specifies the radius of the motor's attached wheel. |
| GearRatio | double | Specifies the ratio of the motor to the wheel. For example, 1/5 means the wheel rotates 5 times slower than the motor. |
| EncoderState | EncoderState | Optionally the state of a motor's encoder can be included as part of this wheeled motor state. |
Updated information might be available online in the MSDN Library page:
Motor
| See Also |
Robotics Common: Robotics Common Overview
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