(1, 3),
[1, 2, 3],
[1, 28],
[12, 36],
[36, 12],
[[1, 24], [12, 36]],
[(1, 24), (12, 36)],
[(1, 24), [12, 36]],
[[57, 24], [12, 123456789, 1]],
]
# Initialize device to known position.
motor = Motor(Port.A, gears=None)
motor.run_target(500, 170)
wait(500)
motor.dc(0)
real_angle = motor.angle()
# Test expected result.
for gears in test_args:
# Initialize motors with new settings.
motor = Motor(Port.A, gears=gears)
# Get expected and measured value.
expected = real_angle / get_gear_ratio(gears)
measured = motor.angle()
# Allow at most one degree of error. We could be a bit more precise
# here and also test the expected rounding direction, by investigating
# how this is currently defined. For now, 1 degree both ways will do.
assert abs(motor.angle() - expected) <= 1, "{0} != {1}".format(
motor.run_target(500, 90)
assert 85 <= motor.angle() <= 95, "Unable to put motor in +90 position."
motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
assert -85 >= motor.angle() >= -95, "Unexpected angle after CCW init."
# Test DC positive direction signs.
for direction in (Direction.CLOCKWISE, Direction.COUNTERCLOCKWISE, "default"):
# Initialize the motor with given sign.
if direction == "default":
motor = Motor(Port.A)
else:
motor = Motor(Port.A, direction)
old_angle = motor.angle()
motor.dc(100)
wait(1000)
assert motor.angle() > old_angle + 90
motor.dc(0)
wait(500)
# The motor is now in positive orientation. Test DC forward.
old_angle = motor.angle()
motor.dc(50)
wait(1000)
assert motor.angle() > old_angle + 45
motor.dc(0)
wait(500)
# The motor is now in positive orientation. Test DC backward.
old_angle = motor.angle()
from pybricks.parameters import Port
from pybricks.tools import wait
# Initialize a motor on port A.
example_motor = Motor(Port.A)
# Run at 500 deg/s and then stop by coasting.
print("Demo of run")
example_motor.run(500)
wait(1500)
example_motor.stop()
wait(1500)
# Run at 70% duty cycle ("power") and then stop by coasting.
print("Demo of dc")
example_motor.dc(50)
wait(1500)
example_motor.stop()
wait(1500)
# Run at 500 deg/s for two seconds.
print("Demo of run_time")
example_motor.run_time(500, 2000)
wait(1500)
# Run at 500 deg/s for 90 degrees.
print("Demo of run_angle")
example_motor.run_angle(500, 180)
wait(1500)
# Run at 500 deg/s back to the 0 angle
mDrive = Motor(Port.D)
mSteer = Motor(Port.B)
mSteer.reset_angle()
SPEED_DRIVE = 100
TIME_DRIVE = 30
STEP_STEER = 15
SPEED_STEER = 720
MAX_STEER = 75
mSteer.run_target(SPEED_STEER, 0, then=Stop.BRAKE)
while True:
c = getchar()
if c == ord('q'):
mDrive.dc(SPEED_DRIVE)
wait(TIME_DRIVE)
elif c == ord('a'):
mDrive.dc(-SPEED_DRIVE)
wait(TIME_DRIVE)
elif c == ord('o'):
if mSteer.angle() > -MAX_STEER:
mSteer.run_angle(SPEED_STEER, -STEP_STEER, then=Stop.BRAKE)
elif c == ord('p'):
if mSteer.angle() < MAX_STEER:
mSteer.run_angle(SPEED_STEER, STEP_STEER, then=Stop.BRAKE)
elif c == ord('r') or c == ord('0'):
mSteer.run_target(SPEED_STEER, 0, then=Stop.BRAKE)
else:
mDrive.stop()
# Get motor position.
position = (left.angle() + right.angle()) / 2
# Calculate motor speed.
speed = (position - buf[idx]) / (window * DT) * 1000
buf[idx] = position
idx = (idx + 1) % window
# Calculate reference position, which just grows linearly with
# time.
reference = -max(watch.time() - PAUSE, 0) / 1000 * DRIVE_SPEED
# Calculate duty cycle.
diff = position - reference
duty = 0.018 * rate + 19 * angle + 0.45 * diff + 0.16 * speed
# Account for battery level and type.
duty *= 7200 / hub.battery.voltage()
# Calculate steering.
reflection = sensor.reflection()
steering = (reflection - 28) * 0.6
# Apply duty cycle for balancing and steering.
left.dc(duty + steering)
right.dc(duty - steering)
# Wait some time.
wait(DT)
drive = Motor(Port.D)
steer = Motor(Port.B)
SPEED_DRIVE = 100
TIME_DRIVE = 30
STEP_STEER = 15
SPEED_STEER = 720
MAX_STEER = 75
steer.reset_angle()
steer.run_target(SPEED_STEER, 0, then=Stop.BRAKE)
while True:
c = getchar()
if c == ord('q'):
drive.dc(SPEED_DRIVE)
wait(TIME_DRIVE)
elif c == ord('a'):
drive.dc(-SPEED_DRIVE)
wait(TIME_DRIVE)
elif c == ord('o'):
if steer.angle() > -MAX_STEER:
steer.run_angle(SPEED_STEER, -STEP_STEER, then=Stop.BRAKE)
elif c == ord('p'):
if steer.angle() < MAX_STEER:
steer.run_angle(SPEED_STEER, STEP_STEER, then=Stop.BRAKE)
elif c == ord('r') or c == ord('0'):
steer.run_target(SPEED_STEER, 0, then=Stop.BRAKE)
else:
drive.stop()
