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<section id="motor">
<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline"></a></h1>
<section id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
<div class="section" id="motor">
<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Motor.Motor">
<em class="property"><span class="pre">class</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="Permalink to this 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="Permalink to this definition"></a></dt>
<dd><p>Class used to control the motors</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.active_break">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">active_break</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="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.active_break" title="Permalink to this definition"></a></dt>
<dt id="compLib.Motor.Motor.active_break">
<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>
<dd><p>Actively break with a specific motor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
@ -103,14 +187,14 @@
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.all_off">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">all_off</span></span><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>
<dt id="compLib.Motor.Motor.all_off">
<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>
<dd><p>Turns of all motors</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.get_motor_curve">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_motor_curve</span></span><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>
<dt id="compLib.Motor.Motor.get_motor_curve">
<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>
<dd><p>Get the currently active motor curve. Check set_motor_curve() for more info.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
@ -120,8 +204,8 @@
</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> </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="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="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Permalink to this 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="Permalink to this definition"></a></dt>
<dd><p>Set specified motor to percentage power, percentage is linearized
so that it’s roughly proportional to the speed</p>
<dl class="field-list simple">
@ -138,8 +222,8 @@ so that it’s roughly proportional to the speed</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.power_raw">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">power_raw</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="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="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">log_metric</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power_raw" title="Permalink to this definition"></a></dt>
<dt id="compLib.Motor.Motor.power_raw">
<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>
<dd><p>Set specified motor to percentage power</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
@ -155,8 +239,8 @@ so that it’s roughly proportional to the speed</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.pwm">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">pwm</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="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pwm</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">compLib.Motor.MotorMode</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pwm" title="Permalink to this definition"></a></dt>
<dt id="compLib.Motor.Motor.pwm">
<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>
<dd><p>Set specified motor to a specific pwm value and motor mode</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
@ -173,8 +257,8 @@ so that it’s roughly proportional to the speed</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.set_motor_curve">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_motor_curve</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">curve</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.set_motor_curve" title="Permalink to this definition"></a></dt>
<dt id="compLib.Motor.Motor.set_motor_curve">
<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>
<dd><p>Set the global motor curve, must be a float array with exactly 21 elements.
[0] = x ticks/s (0% power)
[1] = x ticks/s (5% power)
@ -193,50 +277,75 @@ so that it’s roughly proportional to the speed</p>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<section id="driving-straight-maybe">
<h3>Driving straight (maybe)<a class="headerlink" href="#driving-straight-maybe" title="Permalink to this headline"></a></h3>
</div>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="driving-straight-maybe">
<h3>Driving straight (maybe)<a class="headerlink" href="#driving-straight-maybe" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
</pre></div>
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