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135 lines
3.4 KiB
ReStructuredText
135 lines
3.4 KiB
ReStructuredText
:mod:`ev3devices <pybricks.ev3devices>` -- EV3 devices
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======================================================
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.. automodule:: pybricks.ev3devices
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:no-members:
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Motors
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^^^^^^^^^^^^
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.. _fig_ev3motors:
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.. figure:: ../main/diagrams/ev3motors.png
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:width: 100 %
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EV3-compatible motors. The arrows indicate the default positive direction.
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.. autoclass:: pybricks.ev3devices.Motor
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:noindex:
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:no-members:
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.. rubric:: Measuring
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.. automethod:: pybricks.ev3devices.Motor.angle
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.. automethod:: pybricks.ev3devices.Motor.reset_angle
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.. automethod:: pybricks.ev3devices.Motor.speed
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.. automethod:: pybricks.ev3devices.Motor.load
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.. automethod:: pybricks.ev3devices.Motor.stalled
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.. rubric:: Stopping
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.. automethod:: pybricks.ev3devices.Motor.stop
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.. automethod:: pybricks.ev3devices.Motor.brake
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.. automethod:: pybricks.ev3devices.Motor.hold
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.. rubric:: Running forever
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.. automethod:: pybricks.ev3devices.Motor.run
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.. automethod:: pybricks.ev3devices.Motor.dc
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.. rubric:: Running by a fixed amount
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.. automethod:: pybricks.ev3devices.Motor.run_time
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.. automethod:: pybricks.ev3devices.Motor.run_angle
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.. automethod:: pybricks.ev3devices.Motor.run_target
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.. automethod:: pybricks.ev3devices.Motor.track_target
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.. automethod:: pybricks.ev3devices.Motor.run_until_stalled
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.. automethod:: pybricks.ev3devices.Motor.done
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.. rubric:: Motor settings
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.. automethod:: pybricks.ev3devices.Motor.settings
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.. rubric:: Control settings
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.. automethod:: pybricks.ev3devices::Motor.control.limits
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.. automethod:: pybricks.ev3devices::Motor.control.pid
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.. automethod:: pybricks.ev3devices::Motor.control.target_tolerances
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.. automethod:: pybricks.ev3devices::Motor.control.stall_tolerances
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.. attribute:: control.scale
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Number of degrees that the motor turns to complete one degree at the
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output of the gear train. This is the gear ratio determined from the
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``gears`` argument when initializing the motor.
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Touch Sensor
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^^^^^^^^^^^^
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.. figure:: ../main/cad/output/ev3device-touch.png
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:width: 18 %
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.. autoclass:: pybricks.ev3devices.TouchSensor
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Color Sensor
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^^^^^^^^^^^^
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.. figure:: ../main/cad/output/ev3device-color.png
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:width: 18 %
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.. autoclass:: pybricks.ev3devices.ColorSensor
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Infrared Sensor and Beacon
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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Each method of this class puts the sensor in a different *mode*. Switching
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modes takes about one second on this sensor. To make sure that your program
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runs quickly, use only of these methods in your program.
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.. figure:: ../main/cad/output/ev3device-infrared.png
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:width: 60 %
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.. autoclass:: pybricks.ev3devices.InfraredSensor
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Ultrasonic Sensor
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^^^^^^^^^^^^^^^^^
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.. figure:: ../main/cad/output/ev3device-ultrasonic.png
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:width: 22 %
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.. autoclass:: pybricks.ev3devices.UltrasonicSensor
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Gyroscopic Sensor
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^^^^^^^^^^^^^^^^^
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.. figure:: ../main/cad/output/ev3device-gyro.png
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:width: 18 %
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.. autoclass:: pybricks.ev3devices.GyroSensor
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:no-members:
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.. automethod:: pybricks.ev3devices.GyroSensor.speed
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.. automethod:: pybricks.ev3devices.GyroSensor.angle
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If you use the :meth:`.angle` method, you cannot use the
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:meth:`.speed` method in the same program. Doing so would reset the
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sensor angle to zero every time you read the speed.
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.. automethod:: pybricks.ev3devices.GyroSensor.reset_angle
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