From d923f795069db70cd0c19d135bf5e6b36a9a32f8 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Tue, 28 Jan 2020 20:30:42 +0100 Subject: [PATCH] doc/motor: reduce width of commented text --- doc/api/motors.rst | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/doc/api/motors.rst b/doc/api/motors.rst index b61f2c3..ba9a30d 100644 --- a/doc/api/motors.rst +++ b/doc/api/motors.rst @@ -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: