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api/builtins: add DCMotor

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This is a strict subset of Motor, covering functionality of DC motors only. This is useful for motors without encoders, such as train motors.

It is inherited by Motor, which adds functionality that requires encoders.
This commit is contained in:
Laurens Valk
2020-01-01 13:18:41 +01:00
parent 990527c12a
commit 46dba95342
4 changed files with 79 additions and 49 deletions
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doc/api/motors.rst
+8 -5
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@@ -17,7 +17,7 @@ The Motor Class
.. automethod:: pybricks.builtins.Motor.stalled
.. rubric:: Moving the motor
.. rubric:: Motion
.. automethod:: pybricks.builtins.Motor.stop
@@ -29,14 +29,17 @@ The Motor Class
.. automethod:: pybricks.builtins.Motor.run_target
.. automethod:: pybricks.builtins.Motor.run_until_stalled
.. rubric:: Manual motion control
The following methods are useful if you want full manual control of
the motor.
.. automethod:: pybricks.builtins.Motor.dc
.. rubric:: Moving the motor (advanced)
.. automethod:: pybricks.builtins.Motor.track_target
.. automethod:: pybricks.builtins.Motor.run_until_stalled
.. rubric:: Changing motor settings
.. automethod:: pybricks.builtins.Motor.set_run_settings
doc/api/pupdevices.rst
+14 -2
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@@ -4,6 +4,16 @@
.. automodule:: pybricks.pupdevices
:no-members:
DCMotor
^^^^^^^^^^^^
.. autoclass:: pybricks.builtins.DCMotor
:noindex:
:no-members:
.. automethod:: pybricks.builtins.DCMotor.dc
:noindex:
Motor
^^^^^^^^^^^^
@@ -11,8 +21,6 @@ Motor
:noindex:
:no-members:
.. rubric:: Methods for motors with rotation sensors
.. automethod:: pybricks._instances.Motor.angle
:noindex:
@@ -37,6 +45,10 @@ Motor
.. automethod:: pybricks._instances.Motor.run_target
:noindex:
.. automethod:: pybricks.builtins.Motor.dc
:noindex:
This method lets you use a motor as if it is a simple DC motor.
Color and Distance Sensor
^^^^^^^^^^^^^^^^^^^^^^^^^
pybricks/_instances.py
+1 -2
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@@ -30,12 +30,11 @@ display = make_instance(Display)
class Motor(Motor):
"""Generic class to control motors with built-in rotation sensors."""
def __init__(self, port, positive_direction=Direction.CLOCKWISE):
"""Motor(port, positive_direction=Direction.CLOCKWISE)
Create a motor instance.
Arguments:
port (Port): Port to which the motor is connected.
positive_direction (Direction): Which direction the motor should
pybricks/builtins.py
+56 -40
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@@ -4,8 +4,62 @@ speakers, and batteries."""
from .parameters import Align, Direction, Stop, Axis
class Motor():
"""Generic class to control motors with built-in encoders."""
class DCMotor():
"""Generic class to control simple motors without rotation sensors, such
as train motors."""
def __init__(self, port,
positive_direction=Direction.CLOCKWISE):
"""DCMotor(port, positive_direction=Direction.CLOCKWISE)
Arguments:
port (Port): Port to which the motor is connected.
positive_direction (Direction): Which direction the motor should
turn when you give a positive duty cycle value.
"""
pass
def dc(self, duty):
"""Rotate the motor at a given duty cycle (also known as "power").
Arguments:
duty (:ref:`percentage`): The duty cycle (-100.0 to 100).
"""
pass
def set_dc_settings(self, duty_limit, duty_offset):
"""Configure the settings to adjust the behavior of the :meth:`.dc`
command. This also affects all of the ``run`` commands, which use
the :meth:`.dc` method in the background.
Arguments:
duty_limit (:ref:`percentage`): Relative torque limit during
subsequent motor commands. This
sets the maximum duty cycle that is
applied during any subsequent motor
command. This reduces the maximum
torque output to a percentage of
the absolute maximum stall torque.
This is useful to avoid applying
the full motor torque to a geared
or lever mechanism, or to prevent
your LEGO® train from
unintentionally going at full
speed. (*Default*: 100).
duty_offset (:ref:`percentage`): Minimum duty cycle given when you
use :meth:`.dc`. This adds a small
feed forward torque so that your
motor will move even for very low
duty cycle values, which can be
useful when you create your own
feedback controllers
(*Default*: 0).
"""
pass
class Motor(DCMotor):
"""Generic class to control motors with built-in rotation sensors."""
def __init__(self, port,
positive_direction=Direction.CLOCKWISE,
@@ -31,14 +85,6 @@ class Motor():
"""
pass
def dc(self, duty):
"""Set the duty cycle of the motor.
Arguments:
duty (:ref:`percentage`): The duty cycle (-100.0 to 100).
"""
pass
def angle(self):
"""Get the rotation angle of the motor.
@@ -229,36 +275,6 @@ class Motor():
"""
pass
def set_dc_settings(self, duty_limit, duty_offset):
"""Configure the settings to adjust the behavior of the :meth:`.dc`
command. This also affects all of the ``run`` commands, which use
the :meth:`.dc` method in the background.
Arguments:
duty_limit (:ref:`percentage`): Relative torque limit during
subsequent motor commands. This
sets the maximum duty cycle that is
applied during any subsequent motor
command. This reduces the maximum
torque output to a percentage of
the absolute maximum stall torque.
This is useful to avoid applying
the full motor torque to a geared
or lever mechanism, or to prevent
your LEGO® train from
unintentionally going at full
speed. (*Default*: 100).
duty_offset (:ref:`percentage`): Minimum duty cycle given when you
use :meth:`.dc`. This adds a small
feed forward torque so that your
motor will move even for very low
duty cycle values, which can be
useful when you create your own
feedback controllers
(*Default*: 0).
"""
pass
def set_run_settings(self, max_speed, acceleration):
"""Configure the maximum speed and acceleration/deceleration of the
motor for all run commands.