EV3 Matlab Toolkit - Motors Reference

Ports

You can reference the available ports in the sensor commands using the following constants:

• Device.MotorA
• Device.MotorB
• Device.MotorC

Break types

You can stop the motor with two different brake types:

• Device.Brake – attempt to stop the motor instantly
• Device.Coast – slowly wind down the motor to a complete stop

Commands

outputStop(layer, nos, brake)

Stops a motor.

b.outputStop(0, Device.MotorA, Device.Brake);

outputStopAll()

Stops all motors.

b.outputStopAll();

outputPower(layer, nos, power)

Sets motor output power. Note that if power is negative, the motor direction is reversed.

b.outputPower(0, Device.MotorA, 50);

outputStart(layer, nos)

Starts a motor.

b.outputStart(0, Device.MotorA);

outputTest(layer, nos)

Tests whether or not a motor is busy (0 is ready, 1 is busy).

state = b.outputTest(0, Device.MotorA);

outputStepSpeed(layer, nos, speed, step1, step2, step3, brake)

Moves a motor to a set position with layer, NOS, speed, ramp up angle, constant angle, ramp down angle and brake type.

b.outputStepSpeed(0,Device.MotorA,50,50,360,50,Device.Coast);

outputClrCount(layer,nos)

Clear a motor tachometer.

b.outputClrCount(0,Device.MotorA);

outputGetCount(layer,nos)

Returns the tachometer of a motor.

tacho = b.outputGetCount(0,Device.MotorA);