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doc/parameters: document stop types in table

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Make more explicit how the stop types gradually add more resistance to motion.
This commit is contained in:
Laurens Valk
2020-04-28 14:01:28 +02:00
parent c6f7b514ec
commit 350b90d967
2 changed files with 25 additions and 14 deletions
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doc/api/parameters.rst
+25
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@@ -59,6 +59,31 @@
.. autoclass:: pybricks.parameters.Stop
:no-members:
The following table show how each stop type adds an extra level of
resistance to motion. In these examples, ``m`` is a
:class:`Motor <pybricks.ev3devices.Motor>` and
and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
examples also show how running at zero speed compares to these stop types.
+--------+------------+--------+-------------+---------------+-----------------------------------------+
| | Type | | Friction | | Back | | Speed | | Angle kept | | Examples |
| | | | EMF | | kept at 0 | | at target | |
+========+============+========+=============+===============+=========================================+
| Coast | + | | | | | ``m.stop()`` |
| | | | | | | ``m.run_target(500, 90, Stop.COAST)`` |
+--------+------------+--------+-------------+---------------+-----------------------------------------+
| Brake | + | + | | | | ``m.brake()`` |
| | | | | | | ``m.run_target(500, 90, Stop.BRAKE)`` |
+--------+------------+--------+-------------+---------------+-----------------------------------------+
| | + | + | + | | | ``m.run(0)`` |
| | | | | | | ``d.drive(0, 0)`` |
+--------+------------+--------+-------------+---------------+-----------------------------------------+
| Hold | + | + | + | + | | ``m.hold()`` |
| | | | | | | ``m.run_target(500, 90, Stop.HOLD)`` |
| | | | | | | ``d.straight(0)`` |
| | | | | | | ``d.straight(100)`` |
+--------+------------+--------+-------------+---------------+-----------------------------------------+
.. autoclass:: pybricks.parameters.Color
:no-members:
pybricks/parameters.py
-14
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@@ -85,20 +85,6 @@ class Stop(_PybricksEnum):
Keep controlling the motor to hold it at the commanded angle. This is
only available on motors with encoders.
The stop type defines the resistance to motion after coming to a
standstill:
+-----------+-------------+------------------------------------------+
|Parameter | Resistance | Physical meaning |
+===========+=============+==========================================+
|Stop.COAST | low | Friction |
+-----------+-------------+------------------------------------------+
|Stop.BRAKE | medium | Friction + Torque opposite to motion |
+-----------+-------------+------------------------------------------+
|Stop.HOLD | high | Friction + Torque to hold commanded angle|
+-----------+-------------+------------------------------------------+
"""
COAST = 0