def stop(self): if not self.moving: return if self.direction is OUTPUT.MOTOR_DOWN: io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_UP) else: io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_DOWN) sleep(0.02) io.writeAnalog(OUTPUT.MOTOR, 2048)
def setSpeed(self, speed): if speed > 0: self.direction = OUTPUT.MOTOR_UP elif speed < 0: self.direction = OUTPUT.MOTOR_DOWN else: self.stop() io.setBit(OUTPUT.MOTORDIR, self.direction) io.writeAnalog(OUTPUT.MOTOR, 2048+4*abs(speed)) self.moving = True
def setSpeed(self, speed): if speed > 0: self.direction = OUTPUT.MOTOR_UP elif speed < 0: self.direction = OUTPUT.MOTOR_DOWN else: self.stop() io.setBit(OUTPUT.MOTORDIR, self.direction) io.writeAnalog(OUTPUT.MOTOR, 2048 + 4 * abs(speed)) self.moving = True
def setMotorDirection(self, dir): assert(dir in MOTOR_DIRECTION), "ERR: Invalid motor direction!" io.writeAnalog(MOTOR, dir)
def setMotorDirection(self, dir): assert (dir in MOTOR_DIRECTION), "ERR: Invalid motor direction!" io.writeAnalog(MOTOR, dir)