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<title>Motoren &mdash; CompLib 0.2.3 Dokumentation</title>
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<section id="motoren">
<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Permalink to this heading"></a></h1>
<section id="dokumentation-der-klasse">
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading"></a></h2>
<div class="section" id="motoren">
<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Permalink to this heading"></a></h1>
<div class="section" id="dokumentation-der-klasse">
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading"></a></h2>
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Motor.Motor">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Motor.</span></span><span class="sig-name descname"><span class="pre">Motor</span></span><a class="headerlink" href="#compLib.Motor.Motor" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Motor.</span></span><span class="sig-name descname"><span class="pre">Motor</span></span><a class="headerlink" href="#compLib.Motor.Motor" title="Link zu dieser Definition"></a></dt>
<dd><p>Klasse zum Ansteuern der Motoren</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.multiple_power">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_power" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_power" title="Link zu dieser Definition"></a></dt>
<dd><p>Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen</p>
<dl class="field-list simple">
<dt class="field-odd">Parameter</dt>
@ -121,7 +207,7 @@
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.multiple_pulse_width">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_pulse_width" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_pulse_width" title="Link zu dieser Definition"></a></dt>
<dd><p>Setzen den Pulsbreite mehrerer Motoren in Prozent der Periode</p>
<dl class="field-list simple">
<dt class="field-odd">Parameter</dt>
@ -135,7 +221,7 @@
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.multiple_speed">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_speed" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_speed" title="Link zu dieser Definition"></a></dt>
<dd><p>Geschwindigkeit mehrerer Motoren einstellen</p>
<dl class="field-list simple">
<dt class="field-odd">Parameter</dt>
@ -149,7 +235,7 @@
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.power">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Link zu dieser Definition"></a></dt>
<dd><p>Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen</p>
<dl class="field-list simple">
<dt class="field-odd">Parameter</dt>
@ -166,7 +252,7 @@
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.pulse_width">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pulse_width" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pulse_width" title="Link zu dieser Definition"></a></dt>
<dd><p>Setzen den Pulsbreite eines Motors in Prozent der Periode</p>
<dl class="field-list simple">
<dt class="field-odd">Parameter</dt>
@ -183,13 +269,13 @@
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.speed">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">speed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.speed" title="Link zu dieser Definition"></a></dt>
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">speed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.speed" title="Link zu dieser Definition"></a></dt>
<dd><p>Geschwindigkeit des Motors einstellen</p>
<dl class="field-list simple">
<dt class="field-odd">Parameter</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>port</strong> – Port, an welchen der Motor angesteckt ist. 0-3</p></li>
<li><p><strong>speed</strong> – Drehzahl, mit der sich ein Motor dreht, in Radianten pro Sekunde (rad/s)</p></li>
<li><p><strong>speed</strong> – Drehzahl, mit der sich ein Motor dreht, in Centimeter pro Sekunde (cm/s)</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
@ -200,11 +286,11 @@
</dd></dl>
</section>
<section id="genauere-informationen">
<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Permalink to this heading"></a></h2>
<section id="power-vs-speed-vs-pulsewidth">
<h3>Power vs Speed vs PulseWidth<a class="headerlink" href="#power-vs-speed-vs-pulsewidth" title="Permalink to this heading"></a></h3>
</div>
<div class="section" id="genauere-informationen">
<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Permalink to this heading"></a></h2>
<div class="section" id="power-vs-speed-vs-pulsewidth">
<h3>Power vs Speed vs PulseWidth<a class="headerlink" href="#power-vs-speed-vs-pulsewidth" title="Permalink to this heading"></a></h3>
<p>Zur ansteuerung der Motoren kann entweder <code class="docutils literal notranslate"><span class="pre">Motor.power(...)</span></code>, <code class="docutils literal notranslate"><span class="pre">Motor.speed(...)</span></code> oder <code class="docutils literal notranslate"><span class="pre">Motor.pulse_width(...)`</span></code> verwendet werden.
Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.</p>
<div class="line-block">
@ -212,17 +298,17 @@ Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.</
<div class="line"><code class="docutils literal notranslate"><span class="pre">Motor.speed()</span></code> verwendet die Encoder um die Geschwindigkeit der Motoren mittels closed-loop zu steuern. Diese Funktion sollte nur verwendet werden, wenn <code class="docutils literal notranslate"><span class="pre">Motor.power()</span></code> nicht zur Ansteuerung ausreicht.</div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">Motor.pulse_width()</span></code> stellt die Geschwindigkeit des Motors mittels der Pulsbreite der PWM-Steuerung des Motors ein. Diese Funktion ist so nah an der Hardware wie möglich und sollte auch nur verwendet werden, wenn es einen expliziten Grund dafür gibt.</div>
</div>
</section>
<section id="normal-vs-multiple">
<h3>Normal vs Multiple<a class="headerlink" href="#normal-vs-multiple" title="Permalink to this heading"></a></h3>
</div>
<div class="section" id="normal-vs-multiple">
<h3>Normal vs Multiple<a class="headerlink" href="#normal-vs-multiple" title="Permalink to this heading"></a></h3>
<p>Der Aufruf der funktionen kann entweder über <code class="docutils literal notranslate"><span class="pre">Motor.power(port,</span> <span class="pre">percent)</span></code> oder <code class="docutils literal notranslate"><span class="pre">Motor.power((port,</span> <span class="pre">percent),</span> <span class="pre">(port,</span> <span class="pre">percent),</span> <span class="pre">..)</span></code> erfolgen.
Der zweite Aufruf ermöglicht dem Entwickler dabei beide Motoren in einem Aufruf anzusteuern und bringt einen kleinen Vorteil in der Leistungsfähigkeit der Software.</p>
</section>
</section>
<section id="beispiele">
<h2>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading"></a></h2>
<section id="vorwarts-fahren">
<h3>Vorwärts fahren<a class="headerlink" href="#vorwarts-fahren" title="Permalink to this heading"></a></h3>
</div>
</div>
<div class="section" id="beispiele">
<h2>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading"></a></h2>
<div class="section" id="vorwarts-fahren">
<h3>Vorwärts fahren<a class="headerlink" href="#vorwarts-fahren" title="Permalink to this heading"></a></h3>
<p>Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit.
Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind.</p>
<p>Zusätzlich ist ein <code class="docutils literal notranslate"><span class="pre">time.sleep(5)</span></code> notwendig, welches das Programm für 5 Sekunden pausiert. Diese Pause wird benötigt, da der Roboter automatisch alle Motoren beim Ende des Progammes deaktiviert.</p>
@ -235,39 +321,64 @@ Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum anere
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
</pre></div>
</div>
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