class Motor_row(): def __init__(self, UID_front, UID_back, ipcon, current, max_velocity, ramping_speed, side): # side of the wheels r or l self.side = side 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): self.motor_back.set_steps(steps) self.motor_front.set_steps(steps) def drive_forward(self): if self.side == 'r': self.motor_back.drive_backward() self.motor_front.drive_forward() else: self.motor_back.drive_forward() self.motor_front.drive_backward() def drive_backward(self): if self.side == 'l': self.motor_back.drive_backward() self.motor_front.drive_forward() else: self.motor_back.drive_forward() self.motor_front.drive_backward() def full_stop(self): self.motor_back.stop() self.motor_front.stop() def disable(self): self.motor_back.disable() self.motor_front.disable()