Motor

Class Documentation

class compLib.Motor.Motor

Class used to control the motors

static active_break(port: int)

Actively break with a specific motor

Parameters: port – Port, which the motor is connected to. 1-4

static all_off(): Turns of all motors

static get_motor_curve()

Get the currently active motor curve. Check set_motor_curve() for more info.

Returns: current motor curve

static power(port: int, percent: float)

Set specified motor to percentage power, percentage is linearized so that it’s roughly proportional to the speed

Parameters

port – Port, which the motor is connected to. 1-4
percent – Percentage of max speed. between -100 and 100

Raises

IndexError

static power_raw(port: int, percent: float, log_metric=True)

Set specified motor to percentage power

Parameters

port – Port, which the motor is connected to. 1-4
percent – Percentage of max speed. between -100 and 100

Raises

IndexError

static pwm(port: int, pwm: int, mode: compLib.Motor.MotorMode)

Set specified motor to a specific pwm value and motor mode

Parameters

port – Port, which the motor is connected to. 1-4 allowed
pwm – Raw PWM value which the motor should be set to. From 0 to 2^16 - 1
mode – Motor mode. See enum MotorMode for more info

Raises

IndexError

static set_motor_curve(curve)

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) [2] = x ticks/s (10% power) … [20] = x ticks/s (100% power)

Parameters: curve – float array with 21 elements
Raises: ValueError

Examples

Driving straight (maybe)

from compLib.Motor import Motor

Motor.power(1, 50)
Motor.power(2, 50)