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153 lines
3.9 KiB
ReStructuredText
153 lines
3.9 KiB
ReStructuredText
Motors with Rotation Sensors
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. _fig_pupmotors:
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.. figure:: ../../api/images/pupmotors_label.png
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:width: 100 %
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:alt: pupmotors
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Powered Up motors with rotation sensors. The arrows indicate the default
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positive direction. See the :mod:`hubs <pybricks.hubs>` module for default
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directions of built-in motors.
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.. autoclass:: pybricks.pupdevices.Motor
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:no-members:
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.. rubric:: Measuring
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.. automethod:: pybricks.pupdevices.Motor.speed
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.. automethod:: pybricks.pupdevices.Motor.angle
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.. automethod:: pybricks.pupdevices.Motor.reset_angle
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.. rubric:: Stopping
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.. automethod:: pybricks.pupdevices.Motor.stop
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.. automethod:: pybricks.pupdevices.Motor.brake
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.. automethod:: pybricks.pupdevices.Motor.hold
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.. rubric:: Action
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.. automethod:: pybricks.pupdevices.Motor.run
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.. automethod:: pybricks.pupdevices.Motor.run_time
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.. automethod:: pybricks.pupdevices.Motor.run_angle
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.. automethod:: pybricks.pupdevices.Motor.run_target
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.. automethod:: pybricks.pupdevices.Motor.run_until_stalled
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.. automethod:: pybricks.pupdevices.Motor.dc
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.. rubric:: Advanced motion control
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.. automethod:: pybricks.pupdevices.Motor.track_target
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.. autoattribute:: pybricks.ev3devices.Motor.control
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:annotation:
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:noindex:
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.. FIXME: above should point to pupdevices but inherited class attributes
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do not work yet (https://github.com/sphinx-doc/sphinx/issues/741).
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Initialization Examples
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-----------------------
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Making the motor move back and forth
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_init_basic.py
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Initializing multiple motors
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_init_multiple.py
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Setting the positive direction as counterclockwise
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_init_direction.py
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Using gears
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_init_gears.py
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Measurement Examples
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-----------------------
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Measuring the angle and speed
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_measure.py
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Resetting the measured angle
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_reset_angle.py
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Movement Examples
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-----------------------
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Basic usage of all run methods
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_action_basic.py
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Stopping ongoing movements in different ways
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_stop.py
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Using the ``then`` argument to change how a run command stops
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*************************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_action_then.py
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Stall Examples
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-----------------------
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Running a motor until a mechanical endpoint
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_until_stalled.py
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Centering a steering mechanism
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_until_stalled.py
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Parallel Movement Examples
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--------------------------
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Using the ``wait`` argument to run motors in parallel
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*********************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_action_wait.py
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Waiting for two parallel actions to complete
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*******************************************************
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.. literalinclude::
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../../../examples/pup/motor/motor_action_wait_advanced.py
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