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Lego-Boost-Python-Library/docs/Motor.md
Andrey Pokhilko 32eecac1a6
Make v1.0, based on official docs (#27) 
* It's HUB ID

* Rename file

* Working with official doc

* Some progress

* AttachedIO msg

* device action impl

* some better device alert impl

* restructuring

* Some port commands handled

* Some command feedback waiting

* Some more request-reply things

* Some more request-reply things

* Reworked msg classes

* Getting back to UTs

* Getting back to UTs

* Facing sync lock problems

* Facing sync lock problems

* Testing it

* Covering more with tests

* handle actions

* Hub class is almost covered

* done coverage for Hub

* done coverage for MoveHub

* Button is tested

* remove debug server from examples

* Current and voltage tested

* color sensor basic test

* cover tilt sensor

* motor sensor tested

* constant motor

* motor is tested

* hold_speed impl for motor

* motor commands recorded

* some cleanup

* some cleanup

* some cleanup

* debug

* debug

* FIX a bug

* acc/dec profiles figured out

* UT motor ops

* UT motor ops

* Get rid of weird piggyback

* fix UT

* Fix encoding?

* fix test mb

* More robust

* Checked demo works

* cosmetics

* cosmetics

* Maybe better test

* fetching and decoding some device caps

* describing devs

* describing devs works

* Applying modes we've learned

* Simple and extensible dev attach

* Reworking peripherals based on modes

* Applying modes we've learned

* implemented getting sensor data

* fixed port subscribe

* Added led out cmds on vision sensor

* Worked on color-distance sensor

* Introduce some locking for consistency

* Improved it all

* Travis flags

* improve

* improve

* improve docs
2019-05-30 17:02:50 +03:00

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Motors

Controlling Motors

Methods to activate motors are:

  • start_speed(speed_primary, speed_secondary) - enables motor with specified speed forever
  • timed(time, speed_primary, speed_secondary) - enables motor with specified speed for time seconds, float values accepted
  • angled(angle, speed_primary, speed_secondary) - makes motor to rotate to specified angle, angle value is integer degrees, can be negative and can be more than 360 for several rounds
  • stop() - stops motor

Parameter speed_secondary is used when it is motor group of motor_AB running together. By default, speed_secondary equals speed_primary.

Speed values range is -1.0 to 1.0, float values. Note: In group angled mode, total rotation angle is distributed across 2 motors according to motor speeds ratio, see official doc here.

An example:

from pylgbst.hub import MoveHub
import time

hub = MoveHub()

hub.motor_A.timed(0.5, 0.8)
hub.motor_A.timed(0.5, -0.8)

hub.motor_B.angled(90, 0.8)
hub.motor_B.angled(-90, 0.8)

hub.motor_AB.timed(1.5, 0.8, -0.8)
hub.motor_AB.angled(90, 0.8, -0.8)

hub.motor_external.start_speed(0.2)
time.sleep(2)
hub.motor_external.stop()

Motor Rotation Sensors

Any motor allows to subscribe to its rotation sensor. Two sensor modes are available: rotation angle (EncodedMotor.SENSOR_ANGLE) and rotation speed (EncodedMotor.SENSOR_SPEED). Example:

from pylgbst.hub import MoveHub, EncodedMotor
import time

def callback(angle):
    print("Angle: %s" % angle)

hub = MoveHub()

hub.motor_A.subscribe(callback, mode=EncodedMotor.SENSOR_ANGLE)
time.sleep(60) # rotate motor A
hub.motor_A.unsubscribe(callback)