> For the complete documentation index, see [llms.txt](https://docs.uninterruptedexception.team/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.uninterruptedexception.team/utils/motor/motorgroup.md).

# MotorGroup

{% hint style="warning" %}
Only use motor groups with a six-wheel drivetrain. Using it with mecanum would get rid of the whole point of mecanum: strafing
{% endhint %}

<h2 align="center">Creating a MotorGroup</h2>

Create a MotorGroup by doing the following:

```
DcMotorEx motor1, motor2;
MotorGroup groupName;

// In my class content:
myGroup = new MotorGroup(
    motor1, // leader
    motor2, // follower
    DcMotorEx.Direction.FORWARD, // leader direction
    DcMotorEx.Direction.FORWARD // follower direction
    // Reverse the motor by changing the direction to REVERSE
);
```

For an example, see [Subsystems/Drivetrain.java](https://github.com/Gamemanuel/FTCCodingTemplates/blob/main/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/Drivetrain.java).

<h2 align="center">Functions:</h2>

### `setPower()`

Has 1 argument: power (a double) which is the power it will set to both motors. The range is 1 to -1 (just like setting a regular motor).

### `getPower()`

Gets the power of the MotorGroup through the Leader.

### `setMode()`

Sets the [RunMode](https://ftctechnh.github.io/ftc_app/doc/javadoc/com/qualcomm/robotcore/hardware/DcMotor.RunMode.html) of the motorGroup.

### `setPositionType()`

Sets the behavior for how MotorGroup gets encoder position.\
See [PositionType](/utils/motor/positiontype.md).

### `getPosition()`

The position of the MotorGroup. Dependent on [PositionType](/utils/motor/positiontype.md).


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