def output_percent_run_until_stalled(self,
speed,
stop_type=Stop.COAST,
duty_limit=100,
depth=None):
"""Keep the motor or linked gears running at a constant speed (percentage) until it stalls
:param speed: Speed of the Motor or Gear (percentage)
:type speed: int, float
:param stop_type: Whether to coast, brake, or hold after coming to a standstill,
defaults to Stop.COAST
:type stop_type: Stop, optional
:param duty_limit: Relative torque limit, defaults to 100
:type duty_limit: int, optional
:param depth: Depth of the gear in the link to set the speed for, defaults to None
:type depth: int, optional
"""
if depth is None:
self.percent_run_until_stalled(speed,
stop_type=stop_type,
duty_limit=duty_limit)
super(MotorExt,
self).run_until_stalled(speed_deg(speed, rpm=self.rpm) *
get_ratio(self.gears, depth=depth),
stop_type=stop_type,
duty_limit=duty_limit)
def output_percent_run_target(self,
speed,
target_angle,
stop_type=Stop.COAST,
wait=True,
depth=None):
"""Keep the motor or linked gears running at a constant speed (percentage) towards a
speicified target degree
:param speed: Speed of the Motor or Gear (percentage)
:type speed: int, float
:param target_angle: Target angle that the Motor should rotate to,
regardless of its current angle
:type target_angle: int
:param stop_type: Whether to coast, brake, or hold after coming to a standstill,
defaults to Stop.COAST
:type stop_type: Stop, optional
:param wait: Whether to wait for the maneuver to complete before continuing with the rest of
the program, defaults to True
:type wait: bool, optional
:param depth: Depth of the gear in the link to set the speed for, defaults to None
:type depth: int, optional
"""
if depth is None:
self.percent_run_target(speed,
target_angle,
stop_type=stop_type,
wait=wait)
ratio = get_ratio(self.gears, depth=depth)
super(MotorExt,
self).run_target(speed_deg(speed, rpm=self.rpm) / ratio,
target_angle / ratio,
stop_type=stop_type,
wait=wait)
def output_run_angle(self,
speed,
rotation_angle,
stop_type=Stop.COAST,
wait=True,
depth=None):
"""Keep the motor or linked gears running at a constant speed for a
speicified amount of degrees
:param speed: Speed of the Motor or Gear
:type speed: int, float
:param rotation_angle: Angle (degrees) by which the Motor should run
:type rotation_angle: int
:param stop_type: Whether to coast, brake, or hold after coming to a standstill,
defaults to Stop.COAST
:type stop_type: Stop, optional
:param wait: Whether to wait for the maneuver to complete before continuing with the rest of
the program, defaults to True
:type wait: bool, optional
:param depth: Depth of the gear in the link to set the speed for, defaults to None
:type depth: int, optional
"""
if depth is None:
super(MotorExt, self).run_angle(speed,
rotation_angle,
stop_type=stop_type,
wait=wait)
ratio = get_ratio(self.gears, depth=depth)
super(MotorExt, self).run_angle(speed / ratio,
rotation_angle / ratio,
stop_type=stop_type,
wait=wait)
def output_percent_run_time(self,
speed,
time,
stop_type=Stop.COAST,
wait=True,
depth=None):
"""Keep the motor or linked gears running at a constant speed (percentage)
for a specified amount of time
:param speed: Speed of the Motor or Gear (percentage)
:type speed: int, float
:param time: Duration (milliseconds) of the maneuver
:type time: int
:param stop_type: Whether to coast, brake or hold after coming to a standstill,
defaults to Stop.COAST
:type stop_type: Stop, optional
:param wait: Whether to wait for the maneuver to complete before continuing with the rest of
the program, defaults to True
:type wait: bool, optional
:param depth: Depth of the gear in the link to set the speed for, defaults to None
:type depth: int, optional
"""
if depth is None:
self.percent_run_time(speed, time, stop_type=stop_type, wait=wait)
super(MotorExt, self).run_time(speed_deg(speed, rpm=self.rpm) /
get_ratio(self.gears, depth=depth),
time,
stop_type=stop_type,
wait=wait)
def output_speed(self, depth=None):
"""
Gets the speed (angular velocity) of the motor or its linked gears
:param depth: Depth of the gear in the link to get the angle for, defaults to None
:type depth: int, optional
:return: Rotational speed in deg/s
:rtype: int, float
"""
return super(MotorExt, self).speed() * get_ratio(self.gears,
depth=depth)
def output_run(self, speed, depth=None):
"""
Keep the motor or linked gears running at a constant speed (angular velocity)
:param speed: Speed of the Motor or Gear
:type speed: int, float
:param depth: Depth of the gear in the link to set the speed for, defaults to None
:type depth: int, optional
"""
if depth is None:
super(MotorExt, self).run(speed)
super(MotorExt, self).run(speed / get_ratio(self.gears, depth=depth))
def output_angle(self, depth=None):
"""
Get the rotation angle of the motor or its linked gears
:param depth: Depth of the gear in the link to get the angle for, defaults to None
:type depth: int, optional
:return: Motor angle
:rttype: int, float
"""
return super(MotorExt, self).angle() * get_ratio(self.gears,
depth=depth)