此指令能精確地控制馬達的速度,設定值大時,則會加快馬達的轉速;反之設定值小時,則會使馬達停止。This block allows for precise control of one motor’s speed. You can “ramp up” to a set speed or “ramp down” to a stop. 若取消"等候完成",只要馬達一開始啟動,程式便會執行下一個指令。
By deselecting “Wait for Completion,” your program can move on to the next block once the Motor block has started a motor.
注意:當馬達向前(正)運轉時,回饋值以黑色文字顯示。當馬達向後運轉時,回饋值以紅色文字顯示。
Note: The feedback value will be displayed in black-colored text if the motor is running in the forward (positive) direction and in red-colored text if it is running backwards.
當設定移動指令或是馬達指令的方向後,馬達將會依設定轉動,實際上有可能與機器人行進的方向不同。依據組裝機器人的方式不同,當你設定馬正轉時,而機器人卻向後退。下圖表示馬達預設的轉動方向:前進時的轉動方向。
When you set a Move or Motor blocks' direction, you are specifying the direction the motor will spin. This may be different than the direction your robot actually moves. Depending on how you build your robotic invention, setting the motors to go forwards may cause your creation to move backwards. The image below shows a motor spinning in the default, forwards direction.
可以使用資料線(來自其他指令之資料集線器)連結至馬達指令以達到動態設定的目的。
You can control the Motor block dynamically by connecting data wires (from other blocks’ data hubs) to the Motor block’s data hub.
當選取馬達指令後,擊點指令左下角的邊界,可打開資料集線器。
Open a block’s data hub by clicking the tab at the lower left edge of the block after it has been placed on the work area.
連接到集線器左邊連接埠的資料線是屬於負責傳遞資料進入指令中, 而要從指令送出資料時,則須從集線器的右邊連接埠連接資料線.
Data wires carrying input information to a block are connected to the plugs on the left side of its data hub. Data wires carrying output information are connected to the plugs on the right side.
[A]輸入連接埠 [A] Input plug
[B]輸出連結部 [B] Output plug
[C]數字資料線(黃) [C] Number data wire (yellow)
[D]邏輯資料線(綠) [D]Logic data wire (green)
[E]文字資料線(橘) [E]Text data wire (orange)
[F]無效資料線(灰) [F]Broken data wire (gray)
如果輸入連接埠有對應的輸出連接埠(請參閱 A 以上)時,那麼輸入的資料就會原封不動地傳遞到輸出連接埠.在這樣的情況下, 如果輸入連接埠連著資料線,那麼就只能使用輸出連結埠來做連結. 也就是說,當連結輸出連接線到這樣的輸出連接埠,而不透過相對應的輸入資料線時,就會讓該輸出連接線呈現無效的狀態.
If an input plug has a corresponding output plug (see A above), the input data will pass through from the input plug to the output plug without being changed. In this case, you can only use the output plug if the input plug is connected to an input data wire; connecting an output data wire to such an output plug without a connected input data wire will cause the output data wire to be “broken” (and colored gray).
每條資料線都負責傳送特定資料.例如,一條從邏輯連接埠拉出的資料線則只能連結到另一個同屬邏輯連接埠的集線器上.
Each data wire carries a specific type of data between blocks. For example, if a data wire is dragged from a logic plug on a block’s data hub, it can only be connected to a logic plug on another block’s data hub. The chart below shows what kind of data each plug can accept or send out.
資料線依照特定的顏色作識別:黃色資料線傳送數值資料、綠色資料線傳送邏輯資料(真/偽)及橘色資料線傳送文字資料
Data wires are identified with specific colors: wires carrying number data are colored yellow, wires carrying logic data are colored green, and wires carrying text data are colored orange.
如果資料線連結到錯誤資料型態的連接埠時,則該資料線會呈現斷線無效狀態並以灰色表示.而有無效的資料線存在就無法下載程式.
If you try to connect a data wire to a plug of the wrong data type, the data wire will be broken (and colored gray). You will not be able to download your program if a data wire is broken.
點選無效的資料線時,在工作區右下方的幫助視窗中會看到無效的原因.
If you click a broken wire you can read why it is broken in the small help window in the lower right corner of the work area.
如果資料線傳輸該連接埠資料範圍之外的資料時,該指令不是忽略資料就是轉成合理範圍內的資料.對那些只能接收少量輸入值的連接埠來說(例如,0,1,或2),該連結埠就會忽略超出範圍的數值.
If an input data wire transmits a value outside the possible range of the plug it is connected to, the block will either ignore the value or change it to a value within its range. For plugs that allow just a few input values (example: just 0, 1, or 2), the plug will ignore the input if a value arrives outside its range.
而對那些可以接收大量範圍輸入值(例如: 0~100)的連接埠來說,該連接埠就會將數值轉成可接受的範圍. 例如, 移動指令的動力連接埠接收到150的輸入值時,那麼移動指令就會轉成100(也就是動力連接埠的範圍內).
For plugs that accept larger input ranges (example: 0 – 100), the plug will force any input outside its range to fit. For example, if a Move block’s Power plug receives an input value of 150, the block will change the input value to 100 (i.e., a number within the Power plug’s range).
連接埠 Plug |
資料型態 Data Type |
資料範圍 Possible Range |
資料意義 What the Values Mean |
連接埠例外說明 This Plug is Ignored When... |
|
連接埠 Port |
數值 Number |
1 - 3 | 1 = A, 2 = B, 3 = C | ||
方向 Direction |
邏輯值 Logic |
真/偽 True/False |
真 = 前進 True = Forwards 偽 = 後退 False = Backwards |
||
狀態 Action |
數值 Number |
0 - 2 | 0 = 固定 1 = 加速 2 = 減速 0 = Constant 1 = Ramp Up 2 = Ramp Down |
轉動時間 = 不停止或以秒數為單位 Duration Type = Unlimited or Seconds |
|
動力 Power |
數值 Number |
0 - 100 | |||
動力控制 Control Motor Power |
邏輯 Logic |
真/偽 True/False |
|||
轉動時間 Duration |
數值 Number |
0 - 2147483647 | 依轉動時間單位: 角度/圈數 = 角度, 秒數 = 秒數 Depends on Duration Type: Degrees/Rotations = Degrees, Seconds = Seconds |
轉動時間 = 不停止 Duration Type = Unlimited |
|
等候完成 Wait for Completion |
邏輯 Logic |
真/偽 True/False |
轉動時間 = 不停止(為偽),秒數(為真) Duration Type = Unlimited (always False), Seconds (always True) |
||
下一個狀態 Next Action |
邏輯 Logic |
真/偽 True/False |
真 = 煞車 偽 = 滑行 True = Brake False = Coast |
轉動時間 = 不停止或等候完成 = 偽 Duration Type = Unlimited, or Wait for Completion = False |
|
轉動方向 Direction out |
邏輯 Logic |
真/偽 True/False |
馬達指令執行時的轉動方向 真 = 前進 偽 = 後退 Direction the motor moved during the block’s execution. True = Forwards False = Backwards |
||
轉動角度 Degrees out |
數值 Number |
0 - 2147483647 | 馬達指令執行時的轉動角度 How many degrees the motor moved during the block's execution |