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43 lines
1.9 KiB
Markdown
43 lines
1.9 KiB
Markdown
# Move Hub
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`MoveHub` is extension of generic [Powered Up Hub](GenericHub.md) class. `MoveHub` class delivers specifics of MoveHub brick, such as internal motor port names. Apart from specifics listed below, all operations on Hub are done [as usual](GenericHub.md).
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## Devices Detecting
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As part of instantiating process, `MoveHub` waits up to 1 minute for builtin devices to appear, such as motors on ports A and B, [tilt sensor](TiltSensor.md), [LED](LED.md) and [battery](VoltageCurrent.md). This not guarantees that external motor and/or color sensor will be present right after `MoveHub` instantiated. Usually, `time.sleep(1.0)` for couple of seconds gives it enough time to detect everything.
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MoveHub provides motors via following fields:
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- `motor_A` - port A motor
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- `motor_B` - port B motor
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- `motor_AB` - combined motors A+B manipulated together
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- `motor_external` - external motor attached to port C or D
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MoveHub's internal [tilt sensor](TiltSensor.md) is available through `tilt_sensor` field.
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Field named `vision_sensor` holds instance of [`VisionSensor`](VisionSensor.md), if one is attached to MoveHub.
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Fields named `current` and `voltage` present [corresponding sensors](VoltageCurrent.md) from Hub.
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## Push Button
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`MoveHub` class has field `button` to subscribe to button press and release events.
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Note that `Button` class is not real `Peripheral`, as it has no port and not listed in `peripherals` field of Hub. For convenience, subscribing to button is still done usual way:
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```python
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from pylgbst.hub import MoveHub
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def callback(is_pressed):
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print("Btn pressed: %s" % is_pressed)
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hub = MoveHub()
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hub.button.subscribe(callback)
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```
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The state for button has 3 possible values:
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- `0` - not released
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- `1` - pressed
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- `2` - pressed
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It is for now unknown why Hub always issues notification with `1` and immediately with `2`, after button is pressed. |