update documentation
This commit is contained in:
Konstantin Lampalzer
parent
6245d1308a
commit
e1a17808f7
24 changed files with 1749 additions and 1014 deletions
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@ -5,15 +5,15 @@ MOTOR_COUNT = 4
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class Motor(object):
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"""Class used to control the motors
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"""Klasse zum Ansteuern der Motoren
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"""
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@staticmethod
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def power(port: int, percent: float):
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"""Set specified motor to percentage power
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"""Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen
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:param port: Port, which the motor is connected to. 0-3
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:param percent: Percentage of max speed. between -100 and 100
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:param port: Port, an welchen der Motor angestecht wird. 0-3
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:param percent: Prozentsatz der Höchstgeschwindigkeit. zwischen -100 und 100
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:raises: IndexError
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"""
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@ -21,9 +21,10 @@ class Motor(object):
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raise IndexError("Invalid Motor port specified!")
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if percent < -100 or percent > 100:
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raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
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raise IndexError(
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"Invalid Motor speed specified! Speed is between -100 and 100 percent!")
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request = CompLib_pb2.MotorsSetPowerRequest()
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request = CompLib_pb2.MotorSetPowerRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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request.port = port
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request.power = percent
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@ -32,9 +33,9 @@ class Motor(object):
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@staticmethod
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def multiple_power(*arguments: tuple[int, float]):
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"""Set specified motors to percentage power
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"""Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen
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:param arguments: tuples of port, percentage
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:param arguments: tuple von port, percentage
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:raises: IndexError
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"""
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request = CompLib_pb2.MotorsSetPowerRequest()
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@ -45,7 +46,8 @@ class Motor(object):
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raise IndexError("Invalid Motor port specified!")
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if percent < -100 or percent > 100:
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raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
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raise IndexError(
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"Invalid Motor speed specified! Speed is between -100 and 100 percent!")
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inner_request = CompLib_pb2.MotorSetPowerRequest()
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inner_request.port = port
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@ -57,17 +59,17 @@ class Motor(object):
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@staticmethod
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def speed(port: int, speed: float):
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"""Set specified motor to percentage power
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"""Geschwindigkeit des Motors einstellen
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:param port: Port, which the motor is connected to. 0-3
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:param speed: Speed at which a motor should turn in RPM
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:param port: Port, an welchen der Motor angestecht wird. 0-3
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:param speed: Drehzahl, mit der sich ein Motor dreht, in Radianten pro Sekunde (rad/s)
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:raises: IndexError
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"""
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if port < 0 or port >= MOTOR_COUNT:
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raise IndexError("Invalid Motor port specified!")
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request = CompLib_pb2.MotorsSetSpeedRequest()
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request = CompLib_pb2.MotorSetSpeedRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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request.port = port
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request.speed = speed
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@ -76,9 +78,9 @@ class Motor(object):
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@staticmethod
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def multiple_speed(*arguments: tuple[int, float]):
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"""Set specified motor to percentage power
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"""Geschwindigkeit mehrerer Motoren einstellen
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:param arguments: tuples of port, speed in rpm
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:param arguments: tuple von port, Geschwindigkeit in Radianten pro Sekunde (rad/s)
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:raises: IndexError
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"""
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@ -97,21 +99,44 @@ class Motor(object):
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CompLibClient.send(request.SerializeToString(), request.ByteSize())
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# @staticmethod
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# def all_off():
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# """
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# Turns of all motors
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# """
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# Logging.get_logger().debug(f"Motor.all_off")
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#
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# for i in range(1, MOTOR_COUNT + 1):
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# Motor.active_break(i)
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@staticmethod
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def pulse_width(port: int, percent: float):
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"""Setzen den Pulsbreite eines Motors in Prozent der Periode
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# @staticmethod
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# def active_break(port: int):
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# """
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# Actively break with a specific motor
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#
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# :param port: Port, which the motor is connected to. 1-4
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# """
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# Motor.pwm(port, 0, MotorMode.BREAK)
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:param port: Port, an welchen der Motor angestecht wird. 0-3
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:param percent: Prozent der Periode zwischen -100 und 100
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:raises: IndexError
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"""
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if port < 0 or port >= MOTOR_COUNT:
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raise IndexError("Invalid Motor port specified!")
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request = CompLib_pb2.MotorSetPulseWidthRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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request.port = port
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request.percent = percent
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CompLibClient.send(request.SerializeToString(), request.ByteSize())
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@staticmethod
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def multiple_pulse_width(*arguments: tuple[int, float]):
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"""Setzen den Pulsbreite mehreer Motoren in Prozent der Periode
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:param arguments: tuple von port, prozent
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:raises: IndexError
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"""
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request = CompLib_pb2.MotorsSetPulseWidthRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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for port, percent in arguments:
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if port < 0 or port >= MOTOR_COUNT:
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raise IndexError("Invalid Motor port specified!")
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inner_request = CompLib_pb2.MotorSetPulseWidthRequest()
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inner_request.port = port
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inner_request.percent = percent
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request.requests.append(inner_request)
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CompLibClient.send(request.SerializeToString(), request.ByteSize())
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