55 lines
1.2 KiB
Python
55 lines
1.2 KiB
Python
import time
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import math
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from motor import Motor, motor2040
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"""
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Demonstrates how to create a Motor object and control it.
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"""
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# Create a motor
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m = Motor(motor2040.MOTOR_A)
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# Enable the motor
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m.enable()
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time.sleep(2)
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# Drive at full positive
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m.full_positive()
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time.sleep(2)
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# Stop moving
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m.stop()
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time.sleep(2)
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# Drive at full negative
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m.full_negative()
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time.sleep(2)
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# Coast to a gradual stop
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m.coast()
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time.sleep(2)
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SWEEPS = 2 # How many speed sweeps of the motor to perform
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STEPS = 10 # The number of discrete sweep steps
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STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
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SPEED_EXTENT = 1.0 # How far from zero to drive the motor when sweeping
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# Do a sine speed sweep
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for j in range(SWEEPS):
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for i in range(360):
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m.speed(math.sin(math.radians(i)) * SPEED_EXTENT)
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time.sleep(0.02)
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# Do a stepped speed sweep
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for j in range(SWEEPS):
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for i in range(0, STEPS):
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m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
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time.sleep(STEPS_INTERVAL)
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for i in range(0, STEPS):
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m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
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time.sleep(STEPS_INTERVAL)
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# Disable the motor
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m.disable()
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