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43 lines
2.6 KiB
ReStructuredText
43 lines
2.6 KiB
ReStructuredText
.. pybricks-requirements::
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Stop
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. class:: Stop
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Action after the motor stops.
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.. autoattribute:: pybricks.parameters.Stop.COAST
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:annotation:
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.. autoattribute:: pybricks.parameters.Stop.BRAKE
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:annotation:
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.. autoattribute:: pybricks.parameters.Stop.HOLD
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:annotation:
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The following table shows 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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