> For the complete documentation index, see [llms.txt](https://ubtechedu.gitbook.io/chinese/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ubtechedu.gitbook.io/chinese/standard/motor/readmotorspeed-id.md).

# readMotorSpeed(id)

### 参数

| 参数名 | 类型            | 描述              |
| --- | ------------- | --------------- |
| id  | unsigned char | 要控制的ID号，范围0\~18 |

### 返回

| 参数名    | 类型  | 描述                                              |
| ------ | --- | ----------------------------------------------- |
| number | int | 返回电机转速，范围-140\~140 r/min。读取的值为负代表逆时针旋转，正代表顺时针旋转 |

### 例子

用uKitExplore v2板子控制1号电机顺时针恒速一直旋转，速度为80转/分钟.然后读取并每隔400ms打印一次电机速度。

```c
#include "uKitExplore2.h"
void setup() {    
    Initialization();    
    setMotorTurnAdj(1,80,0xffff);
}

void loop() {    
    Serial.println(readMotorSpeed(1));    
    delay(400);
}
```

用uKitExplore v2板子控制1号电机从逆时针恒速旋转，速度为-80，然后每200ms自加到顺时针恒速一直旋转，速度为80.每次把速度打印出来。

```c
#include "uKitExplore2.h"
int Angle=-80;
void setup() {    
    Initialization();
}

void loop() {    
    Angle++;    
    Serial.println(readMotorSpeed(1));    
    setMotorTurnAdj(1,Angle,0xffff);	     
    delay(200);    
    if(Angle>=80){	
        Angle=80;    
    }
}
```


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