mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-11 09:05:07 +00:00
pybricks._common.Motor: Enable on EV3 and NXT.
Use a shared include and only index the pupdevices Motor.
This commit is contained in:
Laurens Valk
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.. rubric:: Measuring
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.. blockimg:: pybricks_blockMotorMeasure_motor_angle
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.. automethod:: angle
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.. blockimg:: pybricks_blockMotorResetAngle
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.. automethod:: reset_angle
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.. blockimg:: pybricks_blockMotorMeasure_motor_speed
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.. blockimg:: pybricks_blockMotorMeasure_motor_get_speed_average
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.. automethod:: speed
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.. blockimg:: pybricks_blockMotorMeasure_motor_load
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.. automethod:: load
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.. blockimg:: pybricks_blockMotorMeasure_motor_stalled
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.. automethod:: stalled
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.. rubric:: Stopping
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.. blockimg:: pybricks_blockMotorStop_Motor_coast
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.. automethod:: stop
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.. blockimg:: pybricks_blockMotorStop_Motor_brake
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.. automethod:: brake
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.. blockimg:: pybricks_blockMotorStop_Motor_hold
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.. automethod:: hold
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.. rubric:: Running forever
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.. blockimg:: pybricks_blockMotorRun_run
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.. automethod:: run
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.. blockimg:: pybricks_blockMotorDuty_Motor
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.. automethod:: dc
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.. rubric:: Running by a fixed amount
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.. automethod:: run_time
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.. blockimg:: pybricks_blockMotorRun_run_angle
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.. automethod:: run_angle
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.. blockimg:: pybricks_blockMotorRun_run_target
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.. automethod:: run_target
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.. blockimg:: pybricks_blockMotorRun_run_until_stalled
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.. automethod:: run_until_stalled
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.. blockimg:: pybricks_blockMotorTrack
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.. automethod:: track_target
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.. automethod:: done
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.. rubric:: Motor settings
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.. blockimg:: pybricks_blockMotorConfigure_motor_max_voltage
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.. automethod:: settings
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.. automethod:: close
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.. rubric:: Control settings
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.. pybricks-requirements:: pybricks-common-control
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.. blockimg:: pybricks_blockMotorConfigure_motor_max_speed
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.. blockimg:: pybricks_blockMotorConfigure_motor_acceleration
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.. blockimg:: pybricks_blockMotorConfigure_motor_max_torque
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.. autonestedmethod:: control.limits
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: control.pid
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.. pybricks-requirements:: pybricks-common-control
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.. blockimg:: pybricks_blockMotorConfigure_motor_target_tolerances
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.. autonestedmethod:: control.target_tolerances
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: control.stall_tolerances
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.. pybricks-requirements:: pybricks-common-control
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.. attribute:: control.scale
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Number of degrees that the motor turns to complete one degree at the
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output of the gear train. This is the gear ratio determined from the
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``gears`` argument when initializing the motor.
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.. versionchanged:: 3.2
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The :meth:`done`, :meth:`stalled` and :meth:`load` methods have been
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moved.
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: model.state
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: model.settings
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@@ -10,17 +10,18 @@
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:maxdepth: 1
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:maxdepth: 1
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:hidden:
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:hidden:
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motor
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touchsensor
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touchsensor
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colorsensor
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colorsensor
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infraredsensor
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infraredsensor
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ultrasonicsensor
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ultrasonicsensor
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gyrosensor
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gyrosensor
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.. pybricks-classlink:: Motor ../pupdevices/motor
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.. pybricks-classlink:: Motor ../ev3devices/motor
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.. figure:: ../../main/cad/output/ev3device-motors.png
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.. figure:: ../../main/cad/output/ev3device-motors.png
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:width: 100 %
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:width: 100 %
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:target: ../pupdevices/motor.html
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:target: ../ev3devices/motor.html
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.. pybricks-classlink:: TouchSensor
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.. pybricks-classlink:: TouchSensor
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@@ -0,0 +1,21 @@
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.. pybricks-requirements::
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Motors with rotation sensors
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. _fig_ev3motors:
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.. figure:: ../../main/diagrams/ev3motors.png
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:width: 100 %
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:alt: ev3motors
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EV3 and NXT motors with rotation sensors. The arrows indicate the default
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positive direction.
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.. blockimg:: pybricks_variables_set_motor
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.. autoclass:: pybricks.ev3devices.Motor
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:no-members:
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:no-index:
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.. include:: ../common/motor_members.rst.txt
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@@ -10,6 +10,7 @@
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:maxdepth: 1
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:maxdepth: 1
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:hidden:
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:hidden:
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motor
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touchsensor
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touchsensor
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lightsensor
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lightsensor
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colorsensor
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colorsensor
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@@ -0,0 +1,21 @@
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.. pybricks-requirements::
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Motors with rotation sensors
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. _fig_nxtmotors:
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.. figure:: ../../main/diagrams/ev3motors.png
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:width: 100 %
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:alt: ev3motors
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EV3 and NXT motors with rotation sensors. The arrows indicate the default
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positive direction.
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.. blockimg:: pybricks_variables_set_motor
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.. autoclass:: pybricks.nxtdevices.Motor
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:no-members:
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:no-index:
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.. include:: ../common/motor_members.rst.txt
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@@ -18,132 +18,7 @@ Motors with rotation sensors
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.. autoclass:: pybricks.pupdevices.Motor
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.. autoclass:: pybricks.pupdevices.Motor
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:no-members:
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:no-members:
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.. rubric:: Measuring
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.. include:: ../common/motor_members.rst.txt
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.. blockimg:: pybricks_blockMotorMeasure_motor_angle
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.. automethod:: angle
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.. blockimg:: pybricks_blockMotorResetAngle
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.. automethod:: reset_angle
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.. blockimg:: pybricks_blockMotorMeasure_motor_speed
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.. blockimg:: pybricks_blockMotorMeasure_motor_get_speed_average
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.. automethod:: speed
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.. blockimg:: pybricks_blockMotorMeasure_motor_load
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.. automethod:: load
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.. blockimg:: pybricks_blockMotorMeasure_motor_stalled
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.. automethod:: stalled
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.. rubric:: Stopping
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.. blockimg:: pybricks_blockMotorStop_Motor_coast
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.. automethod:: stop
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.. blockimg:: pybricks_blockMotorStop_Motor_brake
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.. automethod:: brake
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.. blockimg:: pybricks_blockMotorStop_Motor_hold
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.. automethod:: hold
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.. rubric:: Running forever
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.. blockimg:: pybricks_blockMotorRun_run
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.. automethod:: run
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.. blockimg:: pybricks_blockMotorDuty_Motor
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.. automethod:: dc
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.. rubric:: Running by a fixed amount
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.. automethod:: run_time
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.. blockimg:: pybricks_blockMotorRun_run_angle
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.. automethod:: run_angle
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.. blockimg:: pybricks_blockMotorRun_run_target
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.. automethod:: run_target
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.. blockimg:: pybricks_blockMotorRun_run_until_stalled
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.. automethod:: run_until_stalled
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.. blockimg:: pybricks_blockMotorTrack
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.. automethod:: track_target
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.. automethod:: done
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.. _settings:
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.. rubric:: Motor settings
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.. blockimg:: pybricks_blockMotorConfigure_motor_max_voltage
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.. automethod:: settings
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.. automethod:: close
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.. rubric:: Control settings
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.. pybricks-requirements:: pybricks-common-control
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.. blockimg:: pybricks_blockMotorConfigure_motor_max_speed
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.. blockimg:: pybricks_blockMotorConfigure_motor_acceleration
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.. blockimg:: pybricks_blockMotorConfigure_motor_max_torque
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.. autonestedmethod:: control.limits
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: control.pid
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.. pybricks-requirements:: pybricks-common-control
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.. blockimg:: pybricks_blockMotorConfigure_motor_target_tolerances
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.. autonestedmethod:: control.target_tolerances
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: control.stall_tolerances
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.. pybricks-requirements:: pybricks-common-control
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.. attribute:: control.scale
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Number of degrees that the motor turns to complete one degree at the
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output of the gear train. This is the gear ratio determined from the
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``gears`` argument when initializing the motor.
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.. versionchanged:: 3.2
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The :meth:`done`, :meth:`stalled` and :meth:`load` methods have been
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moved.
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: model.state
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.. pybricks-requirements:: pybricks-common-control
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.. autonestedmethod:: model.settings
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Initialization examples
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Initialization examples
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-----------------------
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-----------------------
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@@ -5,6 +5,8 @@
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from .parameters import Port
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from .parameters import Port
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from . import _common
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from ._common import ColorLight, CommonColorSensor
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from ._common import ColorLight, CommonColorSensor
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from .iodevices import AnalogSensor
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from .iodevices import AnalogSensor
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@@ -12,6 +14,10 @@ from .iodevices import AnalogSensor
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from typing import Callable, Optional, Tuple
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from typing import Callable, Optional, Tuple
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class Motor(_common.Motor):
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"""LEGO® MINDSTORMS® EV3 Motor."""
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class TouchSensor:
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class TouchSensor:
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"""LEGO® MINDSTORMS® NXT Touch Sensor."""
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"""LEGO® MINDSTORMS® NXT Touch Sensor."""
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+11
-11
@@ -36,20 +36,20 @@ class DriveBase:
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distance_control = _common.Control()
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distance_control = _common.Control()
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"""The traveled distance and drive speed are controlled by a PID
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"""The traveled distance and drive speed are controlled by a PID
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controller. You can use this attribute to change its settings.
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controller. You can use this attribute to change its settings. See the
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See the :ref:`motor control <settings>` attribute for an overview of
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:meth:`motor control <pybricks.pupdevices.Motor.control.limits>` attribute
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available methods. The ``distance_control`` attribute has the same
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for an overview of available methods. The ``distance_control`` attribute
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functionality, but the settings apply to every millimeter driven by the
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has the same functionality, but the settings apply to every millimeter
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drive base, instead of degrees turned by one motor."""
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driven by the drive base, instead of degrees turned by one motor."""
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heading_control = _common.Control()
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heading_control = _common.Control()
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"""The robot turn angle and turn rate are controlled by a PID
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"""The robot turn angle and turn rate are controlled by a PID
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controller. You can use this attribute to change its settings.
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controller. You can use this attribute to change its settings. See the
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See the :ref:`motor control <settings>` attribute for an overview of
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:meth:`motor control <pybricks.pupdevices.Motor.control.limits>` attribute
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available methods. The ``heading_control`` attribute has the same
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for an overview of available methods. The ``heading_control`` attribute
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functionality, but the settings apply to every degree of rotation of the
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has the same functionality, but the settings apply to every degree of
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whole drive base (viewed from the top) instead of degrees turned by one
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rotation of the whole drive base (viewed from the top) instead of degrees
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motor."""
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turned by one motor."""
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def __init__(
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def __init__(
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self,
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self,
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Reference in New Issue
Block a user