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official_models/ev3: Update for motor API changes

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Breaking changes were made in the motor API.

The stop(Stop.*) methods was split into explicit methods and the stop
argument in run_* methods was renamed and the default value changed in
some cases.
This commit is contained in:
David Lechner
2020-03-26 13:43:10 +01:00
committed by laurensvalk
parent 6a57abbff6
commit d4d48efdbb
2 changed files with 14 additions and 14 deletions
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official_models/ev3/education_core/puppy/main.py
+6 -6
View File
@@ -278,8 +278,8 @@ class Puppy:
while not self.left_leg_motor.control.done():
wait(100)
self.left_leg_motor.run_target(50, self.STAND_UP_ANGLE, Stop.HOLD, wait=False)
self.right_leg_motor.run_target(50, self.STAND_UP_ANGLE, Stop.HOLD)
self.left_leg_motor.run_target(50, self.STAND_UP_ANGLE, wait=False)
self.right_leg_motor.run_target(50, self.STAND_UP_ANGLE)
while not self.left_leg_motor.control.done():
wait(100)
@@ -306,14 +306,14 @@ class Puppy:
self.left_leg_motor.run(500)
self.right_leg_motor.run(500)
wait(275)
self.left_leg_motor.stop(Stop.HOLD)
self.right_leg_motor.stop(Stop.HOLD)
self.left_leg_motor.hold()
self.right_leg_motor.hold()
wait(275)
self.left_leg_motor.run(-50)
self.right_leg_motor.run(-50)
wait(275)
self.left_leg_motor.stop(Stop.COAST)
self.right_leg_motor.stop(Stop.COAST)
self.left_leg_motor.stop()
self.right_leg_motor.stop()
@property
def behavior(self):
official_models/ev3/education_core/robot_arm/main.py
+8 -8
View File
@@ -47,7 +47,7 @@ elbow_motor.run(15)
while elbow_sensor.reflection() < 32:
wait(10)
elbow_motor.reset_angle(0)
elbow_motor.stop(Stop.HOLD)
elbow_motor.hold()
# Initialize the base. First rotate it until the Touch Sensor
# in the base is pressed. Reset the motor angle to make this
@@ -56,13 +56,13 @@ base_motor.run(-60)
while not base_switch.pressed():
wait(10)
base_motor.reset_angle(0)
base_motor.stop(Stop.HOLD)
base_motor.hold()
# Initialize the gripper. First rotate the motor until it stalls.
# Stalling means that it cannot move any further. This position
# corresponds to the closed position. Then rotate the motor
# by 90 degrees such that the gripper is open.
gripper_motor.run_until_stalled(200, Stop.COAST, 50)
gripper_motor.run_until_stalled(200, then=Stop.COAST, duty_limit=50)
gripper_motor.reset_angle(0)
gripper_motor.run_target(200, -90)
@@ -73,13 +73,13 @@ def robot_pick(position):
# raises the elbow to pick up the object.
# Rotate to the pick-up position.
base_motor.run_target(60, position, Stop.HOLD)
base_motor.run_target(60, position)
# Lower the arm.
elbow_motor.run_target(60, -40)
# Close the gripper to grab the wheel stack.
gripper_motor.run_until_stalled(200, Stop.HOLD, 50)
gripper_motor.run_until_stalled(200, then=Stop.HOLD, duty_limit=50)
# Raise the arm to lift the wheel stack.
elbow_motor.run_target(60, 0, Stop.HOLD)
elbow_motor.run_target(60, 0)
def robot_release(position):
@@ -88,13 +88,13 @@ def robot_release(position):
# release the object. Then it raises its arm again.
# Rotate to the drop-off position.
base_motor.run_target(60, position, Stop.HOLD)
base_motor.run_target(60, position)
# Lower the arm to put the wheel stack on the ground.
elbow_motor.run_target(60, -40)
# Open the gripper to release the wheel stack.
gripper_motor.run_target(200, -90)
# Raise the arm.
elbow_motor.run_target(60, 0, Stop.HOLD)
elbow_motor.run_target(60, 0)
# Play three beeps to indicate that the initialization is complete.