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https://github.com/pybricks/pybricks-api.git
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doc: move Motor to dedicated page.
Instead, show shorter, simpler Motor docs platform-devices pages. For the moment, this just means deleting the advanced methods section from those pages, but we may choose to simplify further. This change makes it easier to navigate the ev3devices/pupdevices pages because the motor sections aren't overly long. Details will still be available on the Motor pages for those who wish to use the more advanced motor capabilities such as adjusting the PID settings.
This commit is contained in:
Laurens Valk
+2
-46
@@ -7,7 +7,8 @@
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Motor
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^^^^^^^^^^^^
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.. autoclass:: pybricks.ev3devices.Motor
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.. autoclass:: pybricks._instances.Motor
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:noindex:
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:no-members:
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Example::
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@@ -48,51 +49,6 @@ Motor
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.. automethod:: pybricks.ev3devices.Motor.run_target
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.. rubric:: Advanced methods for motors with rotation sensors
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.. automethod:: pybricks.ev3devices.Motor.track_target
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Example::
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# Initialize motor and timer
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from math import sin
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motor = Motor(Port.A)
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watch = StopWatch()
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amplitude = 90
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# In a fast loop, compute a reference angle
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# and make the motor track it.
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while True:
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# Get the time in seconds
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seconds = watch.time()/1000
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# Compute a reference angle. This produces
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# a sine wave that makes the motor move
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# smoothly between -90 and +90 degrees.
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angle_now = sin(seconds)*amplitude
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# Make the motor track the given angle
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motor.track_target(angle_now)
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.. automethod:: pybricks.ev3devices.Motor.stalled
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.. automethod:: pybricks.ev3devices.Motor.run_until_stalled
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.. automethod:: pybricks.ev3devices.Motor.set_dc_settings
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.. automethod:: pybricks.ev3devices.Motor.set_run_settings
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Example::
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# Set the maximum speed to 200 deg/s and
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# acceleration to 400 deg/s/s.
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example_motor.set_run_settings(200, 400)
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# Make the motor run for 5 seconds. Even though the
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# speed argument is 300 deg/s in this example, the
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# motor will move at only 200 deg/s because of
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# the settings above.
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example_motor.run_time(300, 5000)
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.. automethod:: pybricks.ev3devices.Motor.set_pid_settings
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Touch Sensor
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^^^^^^^^^^^^
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+2
-1
@@ -30,10 +30,11 @@ Intro
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.. toctree::
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:maxdepth: 1
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:caption: Engineering Essentials
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:caption: Engineering Extras
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:hidden:
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signaltypes
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motors
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.. toctree::
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:maxdepth: 1
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@@ -0,0 +1,92 @@
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More about Motors
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===========================================
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Motor
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^^^^^^^^^^^^
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.. autoclass:: pybricks.builtins.Motor
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:no-members:
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Example::
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# Initialize a motor (by default this means is, without any gears).
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example_motor = Motor(Port.A)
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# Initialize a motor with positive speed as counterclockwise
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right_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE)
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# Initialize a motor with a gear train
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robot_arm = Motor(Port.C, Direction.CLOCKWISE, [12, 36])
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.. rubric:: Methods for motors without rotation sensors
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.. automethod:: pybricks.builtins.Motor.dc
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Example::
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# Set the motor duty cycle to 75%.
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example_motor.duty(75)
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.. rubric:: Methods for motors with rotation sensors
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.. automethod:: pybricks.builtins.Motor.angle
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.. automethod:: pybricks.builtins.Motor.reset_angle
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.. automethod:: pybricks.builtins.Motor.speed
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.. automethod:: pybricks.builtins.Motor.stop
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.. automethod:: pybricks.builtins.Motor.run
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.. automethod:: pybricks.builtins.Motor.run_time
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.. automethod:: pybricks.builtins.Motor.run_angle
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.. automethod:: pybricks.builtins.Motor.run_target
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.. rubric:: Advanced methods for motors with rotation sensors
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.. automethod:: pybricks.builtins.Motor.track_target
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Example::
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# Initialize motor and timer
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from math import sin
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motor = Motor(Port.A)
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watch = StopWatch()
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amplitude = 90
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# In a fast loop, compute a reference angle
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# and make the motor track it.
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while True:
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# Get the time in seconds
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seconds = watch.time()/1000
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# Compute a reference angle. This produces
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# a sine wave that makes the motor move
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# smoothly between -90 and +90 degrees.
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angle_now = sin(seconds)*amplitude
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# Make the motor track the given angle
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motor.track_target(angle_now)
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.. automethod:: pybricks.builtins.Motor.stalled
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.. automethod:: pybricks.builtins.Motor.run_until_stalled
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.. automethod:: pybricks.builtins.Motor.set_dc_settings
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.. automethod:: pybricks.builtins.Motor.set_run_settings
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Example::
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# Set the maximum speed to 200 deg/s and
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# acceleration to 400 deg/s/s.
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example_motor.set_run_settings(200, 400)
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# Make the motor run for 5 seconds. Even though the
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# speed argument is 300 deg/s in this example, the
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# motor will move at only 200 deg/s because of
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# the settings above.
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example_motor.run_time(300, 5000)
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.. automethod:: pybricks.builtins.Motor.set_pid_settings
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+2
-46
@@ -7,7 +7,8 @@
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Motor
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^^^^^^^^^^^^
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.. autoclass:: pybricks.pupdevices.Motor
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.. autoclass:: pybricks._instances.Motor
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:noindex:
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:no-members:
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Example::
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@@ -48,51 +49,6 @@ Motor
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.. automethod:: pybricks.pupdevices.Motor.run_target
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.. rubric:: Advanced methods for motors with rotation sensors
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.. automethod:: pybricks.pupdevices.Motor.track_target
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Example::
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# Initialize motor and timer
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from math import sin
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motor = Motor(Port.A)
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watch = StopWatch()
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amplitude = 90
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# In a fast loop, compute a reference angle
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# and make the motor track it.
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while True:
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# Get the time in seconds
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seconds = watch.time()/1000
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# Compute a reference angle. This produces
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# a sine wave that makes the motor move
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# smoothly between -90 and +90 degrees.
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angle_now = sin(seconds)*amplitude
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# Make the motor track the given angle
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motor.track_target(angle_now)
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.. automethod:: pybricks.pupdevices.Motor.stalled
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.. automethod:: pybricks.pupdevices.Motor.run_until_stalled
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.. automethod:: pybricks.pupdevices.Motor.set_dc_settings
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.. automethod:: pybricks.pupdevices.Motor.set_run_settings
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Example::
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# Set the maximum speed to 200 deg/s and
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# acceleration to 400 deg/s/s.
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example_motor.set_run_settings(200, 400)
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# Make the motor run for 5 seconds. Even though the
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# speed argument is 300 deg/s in this example, the
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# motor will move at only 200 deg/s because of
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# the settings above.
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example_motor.run_time(300, 5000)
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.. automethod:: pybricks.pupdevices.Motor.set_pid_settings
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Color and Distance Sensor
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^^^^^^^^^^^^^^^^^^^^^^^^^
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+18
-2
@@ -1,7 +1,8 @@
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"""Sphinx workaround to document instance attributes such as self.light"""
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from .builtins import Speaker, Display, Battery, ColorLight, KeyPad, LightArray
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from .builtins import (Motor, Speaker, Display, Battery, ColorLight,
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KeyPad, LightArray)
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from .parameters import Direction
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from types import ModuleType
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@@ -26,3 +27,18 @@ battery = make_instance(Battery)
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speaker = make_instance(Speaker)
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display = make_instance(Display)
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class Motor(Motor):
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def __init__(self, port, direction=Direction.CLOCKWISE):
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"""Motor(port, direction=Direction.CLOCKWISE)
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Create a motor instance.
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Arguments:
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port (Port): Port to which the motor is connected.
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direction (Direction): Positive speed direction
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(*Default*: `Direction.CLOCKWISE`).
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"""
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pass
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