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<div class="section" id="motoren">
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<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Link zu dieser Überschrift"></a></h1>
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<div class="section" id="dokumentation-der-klasse">
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<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Link zu dieser Überschrift"></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="Link zu dieser Definition"></a></dt>
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<dd><p>Klasse zum Ansteuern der Motoren</p>
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<dl class="py method">
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<dt id="compLib.Motor.Motor.multiple_power">
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<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>
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<dd><p>Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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<dd class="field-odd"><p><strong>arguments</strong> – tuple von port, percentage</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>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.multiple_pulse_width">
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<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>
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<dd><p>Setzen den Pulsbreite mehrerer Motoren in Prozent der Periode</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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<dd class="field-odd"><p><strong>arguments</strong> – tuple von port, prozent</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>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.multiple_speed">
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<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>
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<dd><p>Geschwindigkeit mehrerer Motoren einstellen</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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<dd class="field-odd"><p><strong>arguments</strong> – tuple von port, Geschwindigkeit in Radianten pro Sekunde (rad/s)</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>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">
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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="Link zu dieser Definition"></a></dt>
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||
<dd><p>Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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<dd class="field-odd"><ul class="simple">
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<li><p><strong>port</strong> – Port, an welchen der Motor angesteckt ist. 0-3</p></li>
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<li><p><strong>percent</strong> – Prozentsatz der Höchstgeschwindigkeit. zwischen -100 und 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.pulse_width">
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<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>
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<dd><p>Setzen den Pulsbreite eines Motors in Prozent der Periode</p>
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||
<dl class="field-list simple">
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||
<dt class="field-odd">Parameter</dt>
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<dd class="field-odd"><ul class="simple">
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<li><p><strong>port</strong> – Port, an welchen der Motor angesteckt ist. 0-3</p></li>
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<li><p><strong>percent</strong> – Prozent der Periode zwischen -100 und 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.speed">
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<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>
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<dd><p>Geschwindigkeit des Motors einstellen</p>
|
||
<dl class="field-list simple">
|
||
<dt class="field-odd">Parameter</dt>
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||
<dd class="field-odd"><ul class="simple">
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||
<li><p><strong>port</strong> – Port, an welchen der Motor angesteckt ist. 0-3</p></li>
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<li><p><strong>speed</strong> – Drehzahl, mit der sich ein Motor dreht, in Centimeter pro Sekunde (cm/s)</p></li>
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</ul>
|
||
</dd>
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<dt class="field-even">Raises</dt>
|
||
<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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</dd></dl>
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||
|
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</div>
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<div class="section" id="genauere-informationen">
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<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Link zu dieser Überschrift"></a></h2>
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<div class="section" id="power-vs-speed-vs-pulsewidth">
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<h3>Power vs Speed vs PulseWidth<a class="headerlink" href="#power-vs-speed-vs-pulsewidth" title="Link zu dieser Überschrift"></a></h3>
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||
<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.
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Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.</p>
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<div class="line-block">
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<div class="line">Bei <code class="docutils literal notranslate"><span class="pre">Motor.power()</span></code> wird dabei ein Wert zwischen -100% und 100% der maximalen Geschwindigkeit angegeben.</div>
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<div class="line"><code class="docutils literal notranslate"><span class="pre">Motor.speed()</span></code> verwendet die Encoder um die Geschwindigkeit der Motoren mittels closed-loop zu steuern. Diese Funktion sollte nur verwendet werden, wenn <code class="docutils literal notranslate"><span class="pre">Motor.power()</span></code> nicht zur Ansteuerung ausreicht.</div>
|
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<div class="line"><code class="docutils literal notranslate"><span class="pre">Motor.pulse_width()</span></code> stellt die Geschwindigkeit des Motors mittels der Pulsbreite der PWM-Steuerung des Motors ein. Diese Funktion ist so nah an der Hardware wie möglich und sollte auch nur verwendet werden, wenn es einen expliziten Grund dafür gibt.</div>
|
||
</div>
|
||
</div>
|
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<div class="section" id="normal-vs-multiple">
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<h3>Normal vs Multiple<a class="headerlink" href="#normal-vs-multiple" title="Link zu dieser Überschrift"></a></h3>
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||
<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.
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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>
|
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</div>
|
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<div class="section" id="beispiele">
|
||
<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="Link zu dieser Überschrift"></a></h3>
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<p>Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit.
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Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind.</p>
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<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>
|
||
<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>
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||
<span class="kn">import</span> <span class="nn">time</span>
|
||
|
||
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</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">3</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
|
||
|
||
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
|
||
</pre></div>
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</div>
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