Robot MarketPlace - VEX IQ Smart Motor

The Smart Motor does more than just make your wheels spin or arm move. The built in processor, quadrature encoder and current monitor allow for advanced control and feedback through the Robot Brain. The Smart Motor module converts electrical energy from the battery into rotational energy. Motors are the heart of robots, turning wheels, moving arms, and closing claws. The motors square output socket makes connecting the output shafts easy.

The Smart Motor uses a Texas Instruments MSP430 microcontroller running at 16 MHz to process requests, measure speed and direction, monitor current, and control the motor via an H-Bridge. The H-Bridge, also from Texas Instruments, has automatic over current and over temperature protection. Speed and direction are measured via a built-in quadrature encoder that uses a wheel with tiny slots and light sensors. PID loops are processed internally to precisely control output speed and rotation. Current is measured as well to ensure motors don't get too hot in the heat of a battle. All this technology works together to make a Smart Motor that is simple, flexible, and powerful.

Features
Command speed, direction, time, revolutions and degrees
Mounts directly to VEX IQ structural components
Command motors up to 3,000 times/second
Encoder resolution is 0.375 degrees
Supports event programming to simplify software

Specs
Kit Contents	(1) Motor Module
Connectors	(1) Smart Port
Specs	Free Speed: 120 rpm Stall Torque: 0.414 N-m Output Power: 1.4W Command Rate: 3,000 Hz Sample Rate: 3,000 Hz Encoder Resolution: 0.375 degrees
Function	Set speed Set brake on/off Go direction Go direction for a set time Go direction for a number of revolutions Go direction for a number of degrees Get speed Get direction Get encoder value Get motor current