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motorcontrol: partial terminology update for duty steps

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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.
This commit is contained in:
Laurens Valk
2019-02-07 10:16:59 +01:00
parent 5894852ebf
commit e35c0ddb12
1 changed files with 4 additions and 4 deletions
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pybricks/ev3devices.py
+4 -4
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@@ -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