Motor29#
Initializing the Motor29 Class#
A Motor Controller 29, which is used to control a Motor 393, is created by using the following constructor:
Motor29(port, reverse)
This constructor uses two parameters:
Parameter |
Description |
|---|---|
|
The 3-Wire Port that the Motor Controller 29 is connected to, whether it’s a port on the Brain, or a 3-Wire Expander. |
|
Optional. Set this Motor to be reversed or not. If set to |
A Brain or 3-Wire Expander must be created first before they can be used to create an object with the Motor29 Class constructor.
# Create the Brain.
brain = Brain()
# Construct a Motor Controller 29 "mc29" with the Motor29 class.
mc29 = Motor29(brain.three_wire_port.a)
This mc29 object will be used in all subsequent examples throughout this API documentation when referring to Motor29 class methods.
Class Methods#
spin()#
The spin(direction, velocity, units) method spins the Motor in a specified direction. The Motor is assumed to have a maximum velocity of 100 rpm.
This is a non-blocking command and allows the next command to run without delay.
Parameters |
Description |
|---|---|
direction |
A valid DirectionType. |
velocity |
Optional. The velocity to spin the Motor. The default velocity is set by the |
units |
Optional. A valid VelocityUnits type. The default is |
Returns: None.
# Spin the Motor forward at velocity set with set_velocity.
mc29.spin(FORWARD)
stop()#
The stop() method stops the Motor.
Returns: None.
set_velocity()#
The set_velocity() method sets the velocity of the Motor. This will be the velocity used for subsequent calls of the spin() method that do not specify a velocity.
Parameters |
Description |
|---|---|
value |
The velocity value to set. |
units |
A valid VelocityUnits type. The default is |
Returns: None.
set_reversed()#
The set_reversed() method sets the Motor direction to be reversed or not.
Parameters |
Description |
|---|---|
value |
|
Returns: None.
# Reverse the Motor's direction.
mc29.set_reversed(True)