Update documentation
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Konstantin Lampalzer
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lib/Motor.html
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lib/Motor.html
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<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline">¶</a></h1>
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<div class="section" id="class-documentation">
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<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
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<dl class="py class">
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<dt id="compLib.Motor.Motor">
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<em class="property">class </em><code class="sig-prename descclassname">compLib.Motor.</code><code class="sig-name descname">Motor</code><a class="headerlink" href="#compLib.Motor.Motor" title="Permalink to this definition">¶</a></dt>
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<dd><p>Class used to control the motors</p>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.active_break">
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<em class="property">static </em><code class="sig-name descname">active_break</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.active_break" title="Permalink to this definition">¶</a></dt>
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<dd><p>Actively break with a specific motor</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. 1-4</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.all_off">
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<em class="property">static </em><code class="sig-name descname">all_off</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.all_off" title="Permalink to this definition">¶</a></dt>
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<dd><p>Turns of all motors</p>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.get_motor_curve">
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<em class="property">static </em><code class="sig-name descname">get_motor_curve</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.get_motor_curve" title="Permalink to this definition">¶</a></dt>
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<dd><p>Get the currently active motor curve. Check set_motor_curve() for more info.</p>
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<dl class="field-list simple">
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<dt class="field-odd">Returns</dt>
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<dd class="field-odd"><p>current motor curve</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.power">
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<em class="property">static </em><code class="sig-name descname">power</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">percent</span><span class="p">:</span> <span class="n">float</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Permalink to this definition">¶</a></dt>
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<dd><p>Set specified motor to percentage power, percentage is linearized
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so that it’s roughly proportional to the speed</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><ul class="simple">
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<li><p><strong>port</strong> – Port, which the motor is connected to. 1-4</p></li>
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<li><p><strong>percent</strong> – Percentage of max speed. between -100 and 100</p></li>
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</ul>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>IndexError</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.power_raw">
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<em class="property">static </em><code class="sig-name descname">power_raw</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">percent</span><span class="p">:</span> <span class="n">float</span></em>, <em class="sig-param"><span class="n">log_metric</span><span class="o">=</span><span class="default_value">True</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power_raw" title="Permalink to this definition">¶</a></dt>
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<dd><p>Set specified motor to percentage power</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><ul class="simple">
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<li><p><strong>port</strong> – Port, which the motor is connected to. 1-4</p></li>
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<li><p><strong>percent</strong> – Percentage of max speed. between -100 and 100</p></li>
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</ul>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>IndexError</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.pwm">
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<em class="property">static </em><code class="sig-name descname">pwm</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">pwm</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">mode</span><span class="p">:</span> <span class="n">compLib.Motor.MotorMode</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pwm" title="Permalink to this definition">¶</a></dt>
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<dd><p>Set specified motor to a specific pwm value and motor mode</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><ul class="simple">
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<li><p><strong>port</strong> – Port, which the motor is connected to. 1-4 allowed</p></li>
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<li><p><strong>pwm</strong> – Raw PWM value which the motor should be set to. From 0 to 2^16 - 1</p></li>
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<li><p><strong>mode</strong> – Motor mode. See enum MotorMode for more info</p></li>
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</ul>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>IndexError</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.set_motor_curve">
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<em class="property">static </em><code class="sig-name descname">set_motor_curve</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">curve</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.set_motor_curve" title="Permalink to this definition">¶</a></dt>
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<dd><p>Set the global motor curve, must be a float array with exactly 21 elements.
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[0] = x ticks/s (0% power)
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[1] = x ticks/s (5% power)
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[2] = x ticks/s (10% power)
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…
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[20] = x ticks/s (100% power)</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>curve</strong> – float array with 21 elements</p>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>ValueError</p>
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</dd>
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</dl>
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</dd></dl>
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</dd></dl>
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</div>
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<div class="section" id="examples">
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
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