pybricks.common.Motor: Add done, stalled, load.

These used to be implemented as part of the Control object,
but now they are available directly on the motor.

This way they:
- Also give useful values when control is passive, via dc().
- Can be supported on Move Hub
- Give useful values for drive bases (see next commits).

Fixes https://github.com/pybricks/pybricks-api/issues/115

CHANGELOG.md

@@ -14,6 +14,7 @@
 - Improved presentation and docstrings of the ``ubuiltins`` and other
   MicroPython modules
 - Moved the random numbers example for Move Hub to the Move Hub page.
+- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
 
 ## 3.2.0b5 - 2022-11-11
 

doc/main/pupdevices/motor.rst

@@ -24,6 +24,10 @@ Motors with rotation sensors
 
     .. automethod:: pybricks.pupdevices.Motor.reset_angle
 
+    .. automethod:: pybricks.pupdevices.Motor.load
+
+    .. automethod:: pybricks.pupdevices.Motor.stalled
+
     .. rubric:: Stopping
 
     .. automethod:: pybricks.pupdevices.Motor.stop
@@ -32,10 +36,14 @@ Motors with rotation sensors
 
     .. automethod:: pybricks.pupdevices.Motor.hold
 
-    .. rubric:: Action
+    .. rubric:: Running forever
 
     .. automethod:: pybricks.pupdevices.Motor.run
 
+    .. automethod:: pybricks.pupdevices.Motor.dc
+
+    .. rubric:: Running by a fixed amount
+
     .. automethod:: pybricks.pupdevices.Motor.run_time
 
     .. automethod:: pybricks.pupdevices.Motor.run_angle
@@ -46,32 +54,20 @@ Motors with rotation sensors
 
     .. automethod:: pybricks.pupdevices.Motor.run_until_stalled
 
-    .. automethod:: pybricks.pupdevices.Motor.dc
+    .. automethod:: pybricks.pupdevices.Motor.done
 
     .. _settings:
 
-    .. rubric:: Motor status
-
-    .. attribute:: control.scale
-
-        Number of degrees that the motor turns to complete one degree at the
-        output of the gear train. This is the gear ratio determined from the
-        ``gears`` argument when initializing the motor.
-
-    .. automethod:: pybricks.pupdevices.Motor.control.done
-
-    .. automethod:: pybricks.pupdevices.Motor.control.stalled
-
-    .. automethod:: pybricks.pupdevices.Motor.control.load
-
     .. rubric:: Motor settings
 
+    .. automethod:: pybricks.pupdevices.Motor.settings
+
+    .. rubric:: Control settings
+
     You can only change these settings while the controller is stopped. For
     example, you can change them at the start of your program. Alternatively,
     first call :meth:`stop() <pybricks.pupdevices.Motor.stop>`, and then change the settings.
 
-    .. automethod:: pybricks.pupdevices.Motor.settings
-
     .. automethod:: pybricks.pupdevices.Motor.control.limits
 
     .. automethod:: pybricks.pupdevices.Motor.control.pid
@@ -80,6 +76,12 @@ Motors with rotation sensors
 
     .. automethod:: pybricks.pupdevices.Motor.control.stall_tolerances
 
+    .. attribute:: control.scale
+
+        Number of degrees that the motor turns to complete one degree at the
+        output of the gear train. This is the gear ratio determined from the
+        ``gears`` argument when initializing the motor.
+
 Initialization examples
 -----------------------
 

src/pybricks/_common.py

@@ -299,40 +299,6 @@ class Control:
                 minimum ``speed`` before we say it is stalled.
         """
 
-    def stalled(self) -> bool:
-        """stalled() -> bool
-
-        Checks if the controller is currently stalled.
-
-        A controller is stalled when it cannot reach the target speed or
-        position, even with the maximum actuation signal.
-
-        Returns:
-            ``True`` if the controller is stalled, ``False`` if not.
-        """
-
-    def done(self) -> bool:
-        """done() -> bool
-
-        Checks if an ongoing command or maneuver is done.
-
-        Returns:
-            ``True`` if the command is done, ``False`` if not.
-        """
-
-    def load(self) -> int:
-        """load() -> int: mNm
-
-        Estimates the load based on the torque required to maintain the
-        specified speed or angle.
-
-        When coasting, braking, or controlling the duty cycle manually, the
-        load cannot be estimated in this way. Then this method returns zero.
-
-        Returns:
-            The load torque. It returns 0 if control is not active.
-        """
-
 
 class Motor(DCMotor):
     """Generic class to control motors with built-in rotation sensors."""
@@ -394,6 +360,27 @@ class Motor(DCMotor):
 
         """
 
+    def stalled(self) -> bool:
+        """stalled() -> bool
+
+        Checks if the motor is currently stalled.
+
+        It is stalled when it cannot reach the target speed or position, even
+        with the maximum actuation signal.
+
+        Returns:
+            ``True`` if the motor is stalled, ``False`` if not.
+        """
+
+    def load(self) -> int:
+        """load() -> int: mNm
+
+        Estimates the load that holds back the motor when it tries to move.
+
+        Returns:
+            The load torque.
+        """
+
     def reset_angle(self, angle: Optional[Number]) -> None:
         """
         reset_angle(angle)
@@ -505,6 +492,15 @@ class Motor(DCMotor):
             Angle at which the motor becomes stalled.
         """
 
+    def done(self) -> bool:
+        """done() -> bool
+
+        Checks if an ongoing command or maneuver is done.
+
+        Returns:
+            ``True`` if the command is done, ``False`` if not.
+        """
+
     def track_target(self, target_angle: Number) -> None:
         """track_target(target_angle)