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 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)
