From e9735b2db0abf3ef004ed2620a93d3ac4d24d617 Mon Sep 17 00:00:00 2001
From: Laurens Valk <laurens@pybricks.com>
Date: Tue, 11 Aug 2020 12:00:03 +0200
Subject: [PATCH] snippets/pup: add PFMotor examples

---
 snippets/pup/motor_pf/motor_pf_basics.py | 20 +++++++++++++++++++
 snippets/pup/motor_pf/motor_pf_pwm.py    | 25 ++++++++++++++++++++++++
 2 files changed, 45 insertions(+)
 create mode 100644 snippets/pup/motor_pf/motor_pf_basics.py
 create mode 100644 snippets/pup/motor_pf/motor_pf_pwm.py

diff --git a/snippets/pup/motor_pf/motor_pf_basics.py b/snippets/pup/motor_pf/motor_pf_basics.py
new file mode 100644
index 0000000..25558d3
--- /dev/null
+++ b/snippets/pup/motor_pf/motor_pf_basics.py
@@ -0,0 +1,20 @@
+from pybricks.pupdevices import ColorDistanceSensor, PFMotor
+from pybricks.parameters import Port, Color
+from pybricks.tools import wait
+
+# Initialize the sensor.
+sensor = ColorDistanceSensor(Port.B)
+
+# Initialize a motor on channel 1, on the red output.
+motor = PFMotor(sensor, 1, Color.RED)
+
+# Rotate and then stop.
+motor.dc(100)
+wait(1000)
+motor.stop()
+wait(1000)
+
+# Rotate the other way at half speed, and then stop.
+motor.dc(-50)
+wait(1000)
+motor.stop()
diff --git a/snippets/pup/motor_pf/motor_pf_pwm.py b/snippets/pup/motor_pf/motor_pf_pwm.py
new file mode 100644
index 0000000..65c5bb0
--- /dev/null
+++ b/snippets/pup/motor_pf/motor_pf_pwm.py
@@ -0,0 +1,25 @@
+from pybricks.pupdevices import ColorDistanceSensor, PFMotor
+from pybricks.parameters import Port, Color, Direction
+from pybricks.tools import wait
+
+# Initialize the sensor.
+sensor = ColorDistanceSensor(Port.B)
+
+# You can use multiple motors on different channels.
+arm = PFMotor(sensor, 1, Color.BLUE)
+wheel = PFMotor(sensor, 4, Color.RED, Direction.COUNTERCLOCKWISE)
+
+# Accelerate both motors. Only these values are available.
+# Other values will be rounded down to the nearest match.
+for duty in [15, 30, 45, 60, 75, 90, 100]:
+    arm.dc(duty)
+    wheel.dc(duty)
+    wait(1000)
+
+# To make the signal more reliable, there is a short
+# pause between commands. So, they change speed and
+# stop at a slightly different time.
+
+# Brake both motors.
+arm.brake()
+wheel.brake()