def stop(self):
"""Stops the elevator, and flips direction for smoother stopping."""
if self.direction is OUTPUT.MOTOR_UP:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_DOWN)
elif self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_UP)
io.write(OUTPUT.MOTOR,2048)
def stop(self):
"""Stops the elevator, and flips direction for smoother stopping."""
if self.direction is OUTPUT.MOTOR_UP:
io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_DOWN)
elif self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_UP)
io.write(OUTPUT.MOTOR, 2048)
def move(self,direction,speed=1000):
"""Asks the motor to move in a given direction and with a given speed.
direction -- OUTPUT.MOTOR_UP or OUTPUT.MOTOR_DOWN, tells the direction to move in.
speed -- Defaults to 1000. Used for debugging purposes only.
"""
self.direction = direction
if (speed > 0):
io.setBit(OUTPUT.MOTORDIR,direction)
elif (speed < 0):
io.setBit(OUTPUT.MOTORDIR,direction)
io.write(OUTPUT.MOTOR,2048 + 2*abs(speed))
def move(self, direction, speed=1000):
"""Asks the motor to move in a given direction and with a given speed.
direction -- OUTPUT.MOTOR_UP or OUTPUT.MOTOR_DOWN, tells the direction to move in.
speed -- Defaults to 1000. Used for debugging purposes only.
"""
self.direction = direction
if (speed > 0):
io.setBit(OUTPUT.MOTORDIR, direction)
elif (speed < 0):
io.setBit(OUTPUT.MOTORDIR, direction)
io.write(OUTPUT.MOTOR, 2048 + 2 * abs(speed))
def stop(self):
"""Stops the elevator, and flips direction for smoother stopping."""
if not self.moving: return
self.moving = False
sleep(0.16)
if self.direction is OUTPUT.MOTOR_UP:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_DOWN)
elif self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_UP)
io.write(OUTPUT.MOTOR,2048 + 1000)
sleep(0.01)
io.write(OUTPUT.MOTOR,2048)
self.moving = False
