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Initialization

V5 Motors should be configured before use in your code. Configuration options like the gearset and encoder units are important to address first thing in your user program to ensure that functions like pros::Motor::move_velocity() will work as expected.

When declaring motors in C++, it is not necessary to set the configuration for the motor with its constructor (beyond its port number) more than once for the given port. You may also reverse motors by passing the port number of the motor, but negative. An example of this is given below.

#define MOTOR_PORT 1
#define REVERSED_MOTOR_PORT -2
void opcontrol() {
    pros::Motor drive_left (MOTOR_PORT);
    // drive_left will have the same configuration as drive_left_initializer

    pros::Motor drive_right (REVERSED_MOTOR_PORT);
    // drive_right is the reversed version of the motor on port two
}

Motor Groups

In C++, V5 Motors can be configured together within a motor group to perform actions together. When declaring motor groups, you can pass a vector of the ports that the motors exist at. Then you can call motor functions (such as move) for the entire motor group. An example of this is given below.

#define MOTOR_PORT 1
#define REVERSED_MOTOR_PORT -2
void opcontrol() {
    pros::MotorGroup my_motor_group ({MOTOR_PORT, REVERSED_MOTOR_PORT});
    my_motor_group.move(100);
    pros::delay(1000);
}

Simple Usage

The easiest way to interact with the motors is through the pros::Motor::move()function.

Autonomous Movement

The V5 Motors can move in a number of different ways that are better suited towards autonomous movement than the simple pros::Motor::move() example shown above.