FtSwarmXMMotor

The XM motor is very powerful, since it has an included gear. Since fischertechnik XM motors need up to 950mA, please check your power budget of 2A.

XM Motor (135485)

Please check out the details about speed, coast & brake in the motor overview, too.

FtSwarmXMMotor(FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port)

Constructor to create a FtSwarmXMMotor object. If the referenced controller isn’t connected to the swarm yet, the firmware will waits until the controller gets online.

• serialNumber: Serial number of the used ftSwarm controller.
• port: Port number, FTSWARM_M1 or FTSWARM_M2

FtSwarmXMMotor( const char *name )

Constructor to create a FtSwarmXMMotor object. If the referenced controller isn’t connected to the swarm yet, the firmware will waits until the controller gets online.

• name: Alias name of the IO port.

void setSpeed( int16_t speed )

Sets the motors speed.

• speed: speed value in the range from -256 to 256.

uint16_t getSpeed()

Returns the motor’s speed.

void setMotionType( FtSwarmMotion_t motionType )

This function sets the motor driver’s operating mode:

• FTSWARM_COAST the motor is stopped but can be adjusted manually.
• FTSWARM_BRAKE the motor is stopped but actively braked. The motor cannot be adjusted manually.
• FTSWARM_ON switches the power stage on again at the original speed.

FtSwarmMotion_t getMotionType()

Returns the motor’s motion type;

void coast( void )

Set the motor’s motion type to FTSWARM_COAST.

void brake( void )

Set the motor’s motion type to FTSWARM_BRAKE.