pros::adi::Motor class
#include <pros/adi.hpp>

Constructors, destructors, conversion operators

Motor(std::uint8_t adi_port) explicit
Configures an ADI port to act as a Motor.
Motor(ext_adi_port_pair_t port_pair) explicit
Configures an ADI port on an adi_expander to act as a Motor.

Public functions

std::int32_t stop() const
Stops the motor on the given port.
std::int32_t set_value(std::int32_t value) const
Sets the speed of the motor on the given port.
std::int32_t get_value() const
Gets the last set speed of the motor on the given port.
ext_adi_port_tuple_t get_port() const
Gets the port of the sensor.

Function documentation

std::int32_t pros::adi::Motor::set_value(std::int32_t value) const

Sets the speed of the motor on the given port.

Parameters
value The new signed speed; -127 is full reverse and 127 is full forward, with 0 being off
Returns 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 is not configured as a motor

Example

#define MOTOR_PORT 1

void opcontrol() {
  pros::adi::Motor motor (MOTOR_PORT);
  motor.set_value(127); // Go full speed forward
  std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
  delay(1000);
  motor.set_value(0); // Stop the motor
}

std::int32_t pros::adi::Motor::get_value() const

Gets the last set speed of the motor on the given port.

Returns The last set speed of the motor on the given

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

Example

#define MOTOR_PORT 1

void opcontrol() { 
  pros::adi::Motor motor (MOTOR_PORT);
  motor.set_value(127); // Go full speed forward
  std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
  delay(1000);
  motor.set_value(0); // Stop the motor
}

ext_adi_port_tuple_t pros::adi::Motor::get_port() const

Gets the port of the sensor.

Returns returns a tuple of integer ports.

Example

#define DIGITAL_SENSOR_PORT 1 // 'A'

void initialize() {
  pros::adi::AnalogIn sensor (DIGITAL_SENSOR_PORT);
  
     // Getting values from the tuple using std::get<index> 
     int sensorSmartPort = std::get<0>(sensor.get_port()); // First value
  int sensorAdiPort = std::get<1>(sensor.get_port()); // Second value

     // Prints the first and second value from the port tuple (The Adi Port. The first value is the Smart Port)
  printf("Sensor Smart Port: %d\n", sensorSmartPort);
  printf("Sensor Adi Port: %d\n", sensorAdiPort);   
}