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220 lines
6.8 KiB
ReStructuredText
220 lines
6.8 KiB
ReStructuredText
:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
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===================================================================
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.. automodule:: pybricks.parameters
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:no-members:
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.. autoclass:: pybricks.parameters.Port
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:no-members:
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Input/Output ports:
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.. data:: A
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.. data:: B
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.. data:: C
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.. data:: D
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.. data:: E
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.. data:: F
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EV3 Sensor ports:
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.. data:: S1
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.. data:: S2
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.. data:: S3
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.. data:: S4
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.. autoclass:: pybricks.parameters.Direction
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:no-members:
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In general, clockwise is defined by **looking at the motor shaft, just
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like looking at a clock**. Some motors have two shafts. If in doubt,
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refer to the diagram in the ``Motor`` class documentation.
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.. autoclass:: pybricks.parameters.Stop
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:no-members:
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The following table show how each stop type adds an extra level of
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resistance to motion. In these examples, ``m`` is a
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:class:`Motor <pybricks.pupdevices.Motor>` and
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and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
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examples also show how running at zero speed compares to these stop types.
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+--------+------------+--------+-------------+---------------+-----------------------------------------+
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| | Type | | Friction | | Back | | Speed | | Angle kept | | Examples |
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| | | | EMF | | kept at 0 | | at target | |
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+========+============+========+=============+===============+=========================================+
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| Coast | + | | | | | ``m.stop()`` |
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| | | | | | | ``m.run_target(500, 90, Stop.COAST)`` |
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+--------+------------+--------+-------------+---------------+-----------------------------------------+
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| Brake | + | + | | | | ``m.brake()`` |
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| | | | | | | ``m.run_target(500, 90, Stop.BRAKE)`` |
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+--------+------------+--------+-------------+---------------+-----------------------------------------+
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| | + | + | + | | | ``m.run(0)`` |
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| | | | | | | ``d.drive(0, 0)`` |
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+--------+------------+--------+-------------+---------------+-----------------------------------------+
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| Hold | + | + | + | + | | ``m.hold()`` |
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| | | | | | | ``m.run_target(500, 90, Stop.HOLD)`` |
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| | | | | | | ``d.straight(0)`` |
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| | | | | | | ``d.straight(100)`` |
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+--------+------------+--------+-------------+---------------+-----------------------------------------+
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.. autoclass:: pybricks.parameters.Color
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:no-members:
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.. rubric:: Saturated colors
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These colors have maximum saturation and brightness value.
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They differ only in hue.
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.. autoattribute:: RED
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.. pybricks-color:: RED
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.. autoattribute:: ORANGE
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.. pybricks-color:: ORANGE
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.. autoattribute:: YELLOW
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.. pybricks-color:: YELLOW
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.. autoattribute:: GREEN
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.. pybricks-color:: GREEN
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.. autoattribute:: CYAN
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.. pybricks-color:: CYAN
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.. autoattribute:: BLUE
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.. pybricks-color:: BLUE
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.. autoattribute:: VIOLET
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.. pybricks-color:: VIOLET
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.. autoattribute:: MAGENTA
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.. pybricks-color:: MAGENTA
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.. rubric:: Unsaturated colors
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These colors have zero hue and saturation. They differ only in brightness
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value.
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When detecting these colors using sensors, their values depend a lot
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on the distance to the object. If the distance between the sensor and the
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object is not constant in your robot, it is better to use only one of these
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colors in your programs.
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.. autoattribute:: WHITE
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.. pybricks-color:: WHITE
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.. autoattribute:: GRAY
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.. pybricks-color:: GRAY
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.. autoattribute:: BLACK
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This represents dark objects that still reflect
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a very small amount of light.
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.. pybricks-color:: BLACK
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.. autoattribute:: NONE
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This is total darkness, with no reflection or light at all.
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.. pybricks-color:: NONE
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.. rubric:: Making your own colors
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This example shows the basics of color properties, and how to define new colors.
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.. literalinclude::
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../../examples/pup/parameters/color_basics.py
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This example shows more advanced use cases of the ``Color`` class.
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.. literalinclude::
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../../examples/pup/parameters/color_advanced.py
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.. autoclass:: pybricks.parameters.Button
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:no-members:
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.. autoattribute:: pybricks.parameters.Button.LEFT_DOWN
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.LEFT_MINUS
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.DOWN
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.RIGHT_DOWN
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.RIGHT_MINUS
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.LEFT
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.CENTER
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.RIGHT
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.LEFT_UP
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.LEFT_PLUS
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.UP
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.BEACON
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.RIGHT_UP
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:annotation:
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.. autoattribute:: pybricks.parameters.Button.RIGHT_PLUS
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:annotation:
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.. autoclass:: pybricks.parameters.Side
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:no-members:
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Screens or light matrices have only four sides. For those,
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``TOP`` is treated the same as ``FRONT``, and ``BOTTOM`` is treated the
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same as ``BACK``. The diagrams below define the sides for relevant devices.
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**Prime Hub**
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.. figure:: ../api/images/orientation_primehub_label.png
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:height: 15 em
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**Inventor Hub**
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.. figure:: ../api/images/orientation_inventorhub_label.png
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:height: 15 em
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**Move Hub**
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.. figure:: ../api/images/orientation_movehub_label.png
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:height: 15 em
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**Technic Hub**
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.. figure:: ../api/images/orientation_technichub_label.png
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:height: 15 em
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**Tilt Sensor**
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.. figure:: ../api/images/orientation_tiltsensor_label.png
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:height: 15 em
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