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112 lines
3.5 KiB
Python
112 lines
3.5 KiB
Python
# SPDX-License-Identifier: MIT
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# Copyright (c) 2020 The Pybricks Authors
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from typing import Iterable, List, Optional, Tuple, Union, overload
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from .parameters import Button, Color, Direction, Stop, Port
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from .media.ev3dev import SoundFile
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class DCMotor:
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def __init__(
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self, port: Port, positive_direction: Direction = Direction.CLOCKWISE
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): ...
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def dc(self, duty: int) -> None: ...
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def stop(self) -> None: ...
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def brake(self) -> None: ...
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class Control:
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@overload
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def limits(self) -> Tuple[int, int, int]: ...
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@overload
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def limits(
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self,
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speed: Optional[int] = None,
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acceleration: Optional[int] = None,
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actuation: Optional[int] = None,
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) -> None: ...
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def pid(self) -> Tuple[int, int, int, int, int, int]: ...
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@overload
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def pid(
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self,
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kp: Optional[int] = None,
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ki: Optional[int] = None,
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kd: Optional[int] = None,
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integral_range: Optional[int] = None,
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integral_rate: Optional[int] = None,
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feed_forward: Optional[int] = None,
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) -> None: ...
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@overload
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def target_tolerances(self) -> Tuple[int, int]: ...
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@overload
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def target_tolerances(
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self, speed: Optional[int] = None, position: Optional[int] = None
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) -> None: ...
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@overload
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def stall_tolerances(self) -> Tuple[int, int]: ...
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@overload
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def stall_tolerances(
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self, speed: Optional[int] = None, time: Optional[int] = None
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) -> None: ...
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def trajectory(
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self,
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) -> Tuple[int, int, int, int, int, int, int, int, int, int, int, int]: ...
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def stalled(self) -> bool: ...
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def done(self) -> bool: ...
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class Motor(DCMotor):
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control: Control
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def __init__(
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self,
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port: Port,
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positive_direction: Direction = Direction.CLOCKWISE,
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gears: Optional[Union[List[int], List[List[int]]]] = None,
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): ...
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def angle(self) -> int: ...
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def speed(self) -> int: ...
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def reset_angle(self, angle: int) -> None: ...
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def hold(self) -> None: ...
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def run(self, speed: int) -> None: ...
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def run_time(
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self, speed: int, time: int, then: Stop = Stop.HOLD, wait: bool = True
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) -> None: ...
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def run_angle(
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self, speed: int, rotation_angle: int, then: Stop = Stop.HOLD, wait: bool = True
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) -> None: ...
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def run_target(
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self, speed: int, target_angle: int, then: Stop = Stop.HOLD, wait: bool = True
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) -> None: ...
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def run_until_stalled(
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self, speed: int, then: Stop = Stop.COAST, duty_limit: Optional[int] = None
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) -> int: ...
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def track_target(self, target_angle: int) -> None: ...
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class Speaker:
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def beep(self, frequency: int = 500, duration: int = 100) -> None: ...
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def play_notes(self, notes: Iterable[str], tempo: int = 120) -> None: ...
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def play_file(self, file_name: Union[SoundFile, str]) -> None: ...
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def say(self, text: str) -> None: ...
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def set_speech_options(
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self,
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language: Optional[str] = None,
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voice: Optional[str] = None,
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speed: Optional[int] = None,
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pitch: Optional[int] = None,
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): ...
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def set_volume(self, volume: int, which: str = "_all_") -> None: ...
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class Light:
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def on(self, brightness: int = 100) -> None: ...
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def off(self) -> None: ...
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class ColorLight:
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def on(self, color: Optional[Color]) -> None: ...
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def off(self) -> None: ...
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def rgb(self, red: int, green: int, blue: int) -> None: ...
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class KeyPad:
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def pressed(self) -> List[Button]:...
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class Battery:
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def voltage(self) -> int: ...
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def current(self) -> int: ...
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