Module Gear :: Class Gear

Class Gear

Class that represents the combination of two motors on an axis to perform a car-like movement.

Instance Methods

__init__(self, port1=MotorPort.A, port2=MotorPort.B)
Creates a gear instance with left motor plugged into port1, right motor plugged into port2 (defaults: port1 = MotorPort.A, port2 = MotorPort.B).

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setSpeed(self, speed)
Sets the speed to the given value (arbitrary units).

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getSpeed(self)
Returns the current speed (arbitrary units).

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forward(self, duration=-1)
Starts the forward movement with current speed for the given duration (in ms).

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backward(self, duration=-1)
Same as forward(int duration), but moves in reverse direction.

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stop(self)
Stops the gear.

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moveTo(self, count, blocking=True)
Sets the rotation counter of both motors to zero and rotate the motors until the given count is reached.

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left(self, duration=-1)
Starts turning left with left motor rotating forward and right motor rotating backward at current speed.

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right(self, duration=-1)
Same as left, but turns to the right.

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leftArc(self, radius, duration=-1)
Starts turning to the left on an arc with given radius (in arbitrary units).

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rightArc(self, radius, duration=-1)
Starts turning to the right on an arc with given radius (in arbitrary units).

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getLeftMotor(self)
Returns the reference of motor 1 (left motor).

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getRightMotor(self)
Returns the reference of motor 2 (right motor).

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Method Details

setSpeed(self, speed)

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Sets the speed to the given value (arbitrary units). The speed will be changed to the new value at the next movement call only.

Parameters:

speed - the speed 0..100

forward(self, duration=-1)

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Starts the forward movement with current speed for the given duration (in ms). For duration = -1 (default), the method returns, while the movement continues. Otherwise the method returns at the end of the given duration, but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. In a consequence calling several movement methods one after the other will result a seamless movement without intermediate stops. (If motor is already rotating with same speed, returns immediately.)

stop(self)

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Stops the gear. (If motor is already stopped, returns immediately.)

moveTo(self, count, blocking=True)

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Sets the rotation counter of both motors to zero and rotate the motors until the given count is reached. If count is negative, the motors turn backwards. If blocking = True (default), the method returns blocks, until the count is reached; otherwise it returns immediately

left(self, duration=-1)

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Starts turning left with left motor rotating forward and right motor rotating backward at current speed. For duration = -1 (default), the method returns, while the movement continues. Otherwise the method returns at the end of the given duration, but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. In a consequence calling several movement methods one after the other will result a seamless movement without intermediate stops. (If gear is already turning left, returns immediately.)

leftArc(self, radius, duration=-1)

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Starts turning to the left on an arc with given radius (in arbitrary units). If the radius is negative, turns left backwards. For duration = -1 (default), the method returns, while the movement continues. Otherwise the method returns at the end of the given duration, but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. In a consequence calling several movement methods one after the other will result a seamless movement without intermediate stops. (If gear is already turning on a left arc with same radius, returns immediately.)

rightArc(self, radius, duration=-1)

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Starts turning to the right on an arc with given radius (in arbitrary units). If the radius is negative, turns left backwards. For duration = -1 (default), the method returns, while the movement continues. Otherwise the method returns at the end of the given duration, but the movement continues for 200 ms. Then it stops unless another movement method call (forward, backward, left, right, leftArc, rightArc) is invoked within that time. In a consequence calling several movement methods one after the other will result a seamless movement without intermediate stops. (If gear is already turning on a left arc with same radius, returns immediately.)