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117 lines
3.1 KiB
ReStructuredText
117 lines
3.1 KiB
ReStructuredText
:mod:`ev3devices` -- EV3 Motors and Sensors
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===========================================
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.. automodule:: ev3devices
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:no-members:
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Motors
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------
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.. autoclass:: ev3devices.Motor
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:no-members:
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Example::
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# Initialize a motor (by default this means clockwise, without any gears).
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example_motor = Motor(Port.A)
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# Initialize a motor where positive speed values should go counterclockwise
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right_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE)
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# Initialize a motor with a gear train
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robot_arm = Motor(Port.C, Direction.CLOCKWISE, [12, 36])
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.. rubric:: Methods for motors without rotation sensors
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.. automethod:: ev3devices.Motor.dc
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Example::
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# Set the motor duty cycle to 75%.
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example_motor.duty(75)
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.. rubric:: Methods for motors with rotation sensors
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.. automethod:: ev3devices.Motor.angle
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.. automethod:: ev3devices.Motor.reset_angle
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.. automethod:: ev3devices.Motor.speed
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.. automethod:: ev3devices.Motor.stop
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.. automethod:: ev3devices.Motor.run
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.. automethod:: ev3devices.Motor.run_time
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.. automethod:: ev3devices.Motor.run_angle
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.. automethod:: ev3devices.Motor.run_target
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.. rubric:: Advanced methods for motors with rotation sensors
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.. automethod:: ev3devices.Motor.track_target
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Example::
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# Initialize motor and timer
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from math import sin
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motor = Motor(Port.A)
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watch = StopWatch()
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amplitude = 90
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# In a fast loop, compute a reference angle
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# and make the motor track it.
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while True:
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# Get the time in seconds
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seconds = watch.time()/1000
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# Compute a reference angle. This produces
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# a sine wave that makes the motor move
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# smoothly between -90 and +90 degrees.
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angle_now = sin(seconds)*amplitude
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# Make the motor track the given angle
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motor.track_target(angle_now)
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.. automethod:: ev3devices.Motor.stalled
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.. automethod:: ev3devices.Motor.run_until_stalled
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.. automethod:: ev3devices.Motor.set_dc_settings
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.. automethod:: ev3devices.Motor.set_run_settings
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Example::
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# Set the maximum speed to 200 deg/s and acceleration to 400 deg/s/s.
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example_motor.set_run_settings(200, 400)
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# Make the motor run for 5 seconds. Even though the speed argument is 300
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# deg/s in this example, the motor will move at only 200 deg/s because of
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# the settings above.
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example_motor.run_time(300, 5000)
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.. automethod:: ev3devices.Motor.set_pid_settings
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Sensors
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-------
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Touch Sensor
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^^^^^^^^^^^^
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.. autoclass:: ev3devices.TouchSensor
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Color Sensor
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^^^^^^^^^^^^
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.. autoclass:: ev3devices.ColorSensor
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Infrared Sensor and Beacon
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. autoclass:: ev3devices.InfraredSensor
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Ultrasonic Sensor
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^^^^^^^^^^^^^^^^^
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.. autoclass:: ev3devices.UltrasonicSensor
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Gyroscopic Sensor
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^^^^^^^^^^^^^^^^^
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.. autoclass:: ev3devices.GyroSensor
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