From e35c0ddb1217a8bc7eff2f8f49eda5bb58d4768e Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 7 Feb 2019 10:16:59 +0100 Subject: [PATCH] motorcontrol: partial terminology update for duty steps when we add an offset internally, the argument isn't really duty cycle anymore. This could use some further work. Offsets are still zero by default. --- pybricks/ev3devices.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 0e15770..1e8bc33 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -224,11 +224,11 @@ class Motor(): pass def set_dc_settings(self, duty_limit, duty_offset): - """TODO + """Configure the settings to adjust the behavior of the :meth:`.dc` command. This also affects the all of the ``run`` commands, which use the :meth:`.dc` in the background. Arguments: - duty_limit (:ref:`percentage`): TODO - duty_offset (:ref:`percentage`): TODO + 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. (*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 @@ -418,7 +418,7 @@ class GyroSensor(): Arguments: port (Port): Port to which the sensor is connected. - direction (Direction): Positive rotation direction when looking at the red dot on top of the sensor. (*Default*: Direction.clockwise). + direction (Direction): Positive rotation direction when looking at the red dot on top of the sensor (*Default*: Direction.clockwise). """ pass