mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
Laurens Valk
170f5844d4
Sphinx and read the docs seem to require RST. This works well for this sample code. Unfortunately, vscode code preview seems to require markdown (For the tables. Other RST seems to work.)
161 lines
4.9 KiB
Python
161 lines
4.9 KiB
Python
"""Constant parameters/arguments for the Pybricks API."""
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from enum import Enum
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class Color(Enum):
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"""Light or surface color.
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black, blue, green, yellow, red, white, brown, orange, or purple.
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"""
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black = 1
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blue = 2
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green = 3
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yellow = 4
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red = 5
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white = 6
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brown = 7
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orange = 8
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purple = 9
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class Port(Enum):
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"""Port on the intelligent brick."""
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# Generic motor/sensor ports
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A = ord('A')
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B = ord('B')
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C = ord('C')
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D = ord('D')
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# NXT/EV3 sensor ports
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S1 = ord('1')
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S2 = ord('2')
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S3 = ord('3')
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S4 = ord('4')
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class Stop(Enum):
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"""Action after the motor stops: coast, brake, or hold.
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This action defines the resistance to motion after coming to standstill:
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+-----------+-------------+------------------------------------------+
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|Parameter | Resistance | Physical meaning |
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+===========+=============+==========================================+
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|Stop.coast | low | Friction |
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+-----------+-------------+------------------------------------------+
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|Stop.brake | medium | Friction + Torque opposite to speed |
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+-----------+-------------+------------------------------------------+
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|Stop.hold | high | Friction + Torque to maintain fixed angle|
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+-----------+-------------+------------------------------------------+
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"""
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coast = 0
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brake = 1
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hold = 2
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class Direction():
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"""Direction for positive speed values: clockwise or counterclockwise.
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For all motors, this is defined when looking at the shaft, just like looking at a clock.
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For NXT or EV3 motors, make sure to look at the motor with the red/orange shaft to the lower right.
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+----------------------------+-------------------+-----------------+
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| Parameter | Positive speed | Negative speed |
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+============================+===================+=================+
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| Direction.clockwise | clockwise | counterclockwise|
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+----------------------------+-------------------+-----------------+
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| Direction.counterclockwise | counterclockwise | clockwise |
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+----------------------------+-------------------+-----------------+
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::
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Powered Up Motor:
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counterclockwise clockwise
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____ _____
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/ \
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/ _____________ \
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/ / \ \
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| | __| |__ | |
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v | |__ o __| | v
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\______________/
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NXT and EV3 motors:
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________
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/ \ ___ ___
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_| \ / \
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| ----/------ \
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counterclockwise | __\__ | clockwise
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\__________ v / \ v
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-------| + |
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\_____/
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"""
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clockwise = 1
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counterclockwise = -1
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class Completion(Enum):
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"""How the motor action should complete: foreground or background.
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Note: A motor can only do one thing at the time. If a motor is running in
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the background and you give it a new command, only the new command applies.
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+-----------------------+-------------------------------------------------------------------+
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| Parameter | Effect |
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+=======================+===================================================================+
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| Completion.foreground | Your script waits for the motor action to complete. |
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+-----------------------+-------------------------------------------------------------------+
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| Completion.background | Your script continues immediately while the motor is still moving.|
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+-----------------------+-------------------------------------------------------------------+
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"""
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foreground = 0
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background = 1
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class Button(Enum):
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"""Buttons on a brick or remote:
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+-----------+----------+-----------+
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| left_up |up/beacon | right_up |
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+-----------+----------+-----------+
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| left | center | right |
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+-----------+----------+-----------+
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| left_down | down | right_down|
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+-----------+----------+-----------+
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"""
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left_down = 1
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down = 2
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right_down = 3
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left = 4
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center = 5
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right = 6
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left_up = 7
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up = 8
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beacon = 8
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right_up = 9
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