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@ -94,10 +42,7 @@
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<li class="toctree-l2 current"><a class="current reference internal" href="#">Motoren</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="#compLib.Motor.Motor"><code class="docutils literal notranslate"><span class="pre">Motor</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="#power-vs-speed-vs-pulsewidth">Power vs Speed vs PulseWidth</a></li>
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@ -113,87 +58,48 @@
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<div class="section" id="motoren">
<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Permalink to this heading"></a></h1>
<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Link zu dieser Überschrift"></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>
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Link zu dieser Überschrift"></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>
<dt id="compLib.Motor.Motor">
<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="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>
<dt id="compLib.Motor.Motor.multiple_power">
<em class="property">static </em><code class="sig-name descname">multiple_power</code><span class="sig-paren">(</span><em class="sig-param"><span class="o">*</span><span class="n">arguments</span><span class="p">:</span> <span class="n">tuple</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>
@ -206,8 +112,8 @@
</dd></dl>
<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>
<dt id="compLib.Motor.Motor.multiple_pulse_width">
<em class="property">static </em><code class="sig-name descname">multiple_pulse_width</code><span class="sig-paren">(</span><em class="sig-param"><span class="o">*</span><span class="n">arguments</span><span class="p">:</span> <span class="n">tuple</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>
@ -220,8 +126,8 @@
</dd></dl>
<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>
<dt id="compLib.Motor.Motor.multiple_speed">
<em class="property">static </em><code class="sig-name descname">multiple_speed</code><span class="sig-paren">(</span><em class="sig-param"><span class="o">*</span><span class="n">arguments</span><span class="p">:</span> <span class="n">tuple</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>
@ -234,8 +140,8 @@
</dd></dl>
<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>
<dt id="compLib.Motor.Motor.power">
<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="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>
@ -251,8 +157,8 @@
</dd></dl>
<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>
<dt id="compLib.Motor.Motor.pulse_width">
<em class="property">static </em><code class="sig-name descname">pulse_width</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.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>
@ -268,8 +174,8 @@
</dd></dl>
<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>
<dt id="compLib.Motor.Motor.speed">
<em class="property">static </em><code class="sig-name descname">speed</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">speed</span><span class="p">:</span> <span class="n">float</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>
@ -288,9 +194,9 @@
</div>
<div class="section" id="genauere-informationen">
<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Permalink to this heading"></a></h2>
<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Link zu dieser Überschrift"></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>
<h3>Power vs Speed vs PulseWidth<a class="headerlink" href="#power-vs-speed-vs-pulsewidth" title="Link zu dieser Überschrift"></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">
@ -300,15 +206,15 @@ Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.</
</div>
</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>
<h3>Normal vs Multiple<a class="headerlink" href="#normal-vs-multiple" title="Link zu dieser Überschrift"></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>
</div>
</div>
<div class="section" id="beispiele">
<h2>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading"></a></h2>
<h2>Beispiele<a class="headerlink" href="#beispiele" title="Link zu dieser Überschrift"></a></h2>
<div class="section" id="vorwarts-fahren">
<h3>Vorwärts fahren<a class="headerlink" href="#vorwarts-fahren" title="Permalink to this heading"></a></h3>
<h3>Vorwärts fahren<a class="headerlink" href="#vorwarts-fahren" title="Link zu dieser Überschrift"></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>
@ -327,58 +233,33 @@ Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum anere
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