class Motor_row():
def __init__(self, UID_front, UID_back, ipcon, current, max_velocity,
ramping_speed):
self.UID_back = UID_back
self.UID_front = UID_front
# init both stepper
self.motor_back = BrickStepper(UID_back, ipcon)
self.motor_front = BrickSilentStepper(UID_front, ipcon)
# init current in mA
print(current)
self.motor_back.set_motor_current(current)
self.motor_front.set_motor_current(current)
# init max_velocity
print(max_velocity)
self.motor_back.set_max_velocity(max_velocity)
self.motor_front.set_max_velocity(max_velocity)
# init ramping speed
print(ramping_speed)
self.motor_back.set_speed_ramping(ramping_speed, ramping_speed)
self.motor_front.set_speed_ramping(ramping_speed, ramping_speed)
self.motor_back.set_step_mode(8)
self.motor_front.set_step_configuration(
self.motor_front.STEP_RESOLUTION_8, True)
def enable_motors(self):
self.motor_back.enable()
self.motor_front.enable()
def set_steps(self, steps):
print(steps)
self.motor_back.set_steps(steps)
self.motor_front.set_steps(steps)
def drive_forward(self):
self.motor_back.drive_forward()
self.motor_front.drive_forward()
def drive_backward(self):
self.motor_back.drive_backward()
self.motor_front.drive_backward()
def full_stop(self):
self.motor_back.full_stop()
self.motor_front.full_stop()
def disable(self):
self.motor_back.disable()
self.motor_front.disable()
