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void seperateSpinVolt(vector<double> velocities)

Spins all motors in volts in the group at the specified velocities in pct.

If the number of velocities specified does not match the number of motors in the group, the function will print “MotorGroup::seperateSpinVolt: Speeds vector size does not match motor size” to the terminal and exit.

This function accepts a percent velocity, but it is converted to voltage before being sent to the motors. This is useful for controlling the speed of the motors for PID loops.

The intended use of this function is to control omni-directional drive trains, but you could use it for something else.

Parameters

  • velocities - the velocities to spin the motors at in pct

Example 

vex::motor m1 = vex::motor(vex::PORT1);
vex::motor m2 = vex::motor(vex::PORT2);
vex::motor m3 = vex::motor(vex::PORT3);
vex::motor m4 = vex::motor(vex::PORT4);

MotorGroup mg = MotorGroup(m1, m2, m3, m4);

//... later in some function
mg.seperateSpinVolt({50, 100, 75, 25});
//Spins m1 at 50% of its maximum voltage (AKA 6 volts)
//Spins m2 at 100% of its maximum voltage (AKA 12 volts)
//Spins m3 at 75% of its maximum voltage (AKA 9 volts)
//Spins m4 at 25% of its maximum voltage (AKA 3 volts)