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api/builtins: drop motor setting setters

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this will be done through the control attribute instead
This commit is contained in:
Laurens Valk
2020-01-28 17:53:11 +01:00
parent 6278aeb1b6
commit 4ed787240e
2 changed files with 3 additions and 88 deletions
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pybricks/builtins.py
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@@ -27,36 +27,6 @@ class DCMotor():
"""
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 motor 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 Control():
"""Class to interact with PID controller and settings."""
@@ -316,62 +286,6 @@ class Motor(DCMotor):
"""
pass
def set_run_settings(self, max_speed, acceleration):
"""Configure the maximum speed and acceleration/deceleration of the
motor for all run commands.
This applies to the ``run``, ``run_time``, ``run_angle``,
``run_target``, or ``run_until_stalled`` commands you give the motor.
Arguments:
max_speed (:ref:`speed`): Maximum speed of the motor during a motor
command.
acceleration (:ref:`acceleration`): Acceleration towards the target
speed and deceleration towards
standstill. This should be a
positive value. The motor will
automatically change the sign
to decelerate as needed.
"""
pass
def set_pid_settings(self, kp, ki, kd, tight_loop_limit, angle_tolerance,
speed_tolerance, stall_speed, stall_time):
"""Configure the settings of the position and speed controllers.
Arguments:
kp (int): Proportional position (and integral speed) control
constant.
ki (int): Integral position control constant.
kd (int): Derivative position (and proportional speed) control\
constant.
tight_loop_limit (:ref:`time`): If you execute any of the ``run``
commands within this interval after
starting the previous command, the
controllers assume that you want to
control the speed directly. This
means that it will ignore the
acceleration setting and
immediately begin tracking the
speed you give in the ``run``
command. This is useful in a fast
loop, where you usually want the
motors to respond quickly rather
than accelerate smoothly, for
example with a line-following
robot.
angle_tolerance (:ref:`angle`): Allowed deviation from the target
angle before motion is considered
complete.
speed_tolerance (:ref:`speed`): Allowed deviation from zero speed
before motion is considered
complete.
stall_speed (:ref:`speed`): See :meth:`.stalled`.
stall_time (:ref:`time`): See :meth:`.stalled`.
"""
pass
def dc(self, duty):
"""Rotate the motor at a given duty cycle (also known as "power").