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Code Issues Releases Activity

doc/motor: reduce width of commented text

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Laurens Valk
2020-01-28 20:30:42 +01:00
parent 6525fbc98a
commit d923f79506
1 changed files with 13 additions and 11 deletions
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doc/api/motors.rst
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@@ -18,20 +18,22 @@ Using stall detection
This section will be included in a future release.
.. When a motor cannot move any further despite using the maximally allowed torque
.. we say that the motor is stalled. Something could be blocking the motor, or the
.. load is just too heavy. For example, if you manually hold the motor shaft still
.. while the motor is busy executing a command, the motor will stall.
.. When a motor cannot move any further despite using the maximally allowed
.. torque we say that the motor is stalled. Something could be blocking the
.. motor, or the load is just too heavy. For example, if you manually hold
.. the motor shaft still while the motor is busy executing a command, the
.. motor will stall.
.. What can I do with stall detection?
.. +++++++++++++++++++++++++++++++++++
.. Stall detection is useful to detect that a motor can't move any further. This
.. can be used to detect an endpoint of a mechanism. For example, you can detect
.. whether a robotic hand is fully closed, because the gripper motor simply can't
.. go further. This way, you don't need a touch or light sensor to detect this.
.. Stall detection is useful to detect that a motor can't move any further.
.. This can be used to detect an endpoint of a mechanism. For example, you
.. can detect whether a robotic hand is fully closed, because the gripper
.. motor simply can't go further. This way, you don't need a touch or light
.. sensor to detect this.
.. *TODO: How, what, why. Also explain run_until_stalled. Rack & pinion example.*
.. *TODO: How, what, why. Explain run_until_stalled. Rack & pinion example.*
.. When is a motor stalled?
.. ++++++++++++++++++++++++
@@ -82,8 +84,8 @@ Using gears
.. Notice that there is no magic going on. It is just a convenient scaling
.. function. This helps you organize your code. For example, if you change
.. your mechanism to use different gears, you only have to change the first line
.. of this example.
.. your mechanism to use different gears, you only have to change the first
.. line of this example.
.. _control: