brian.motors.Motor

brian.motors

• Motor
  • limits
  • motor_type
  • __init__
  • __del__
  • close_motor
  • is_connected
  • is_ready
  • current_angle
  • reset_angle
  • current_speed
  • current_torque
  • is_stalled
  • coast
  • brake
  • hold
  • run_unregulated
  • run_at_voltage
  • run_at_speed
  • rotate_by_angle
  • rotate_to_angle
  • rotate_to_angle_without_speed_control
  • movement_done
  • wait_for_movement

Motor class objects

class Motor()

A class to manage and control motor operations.

limits

@property
def limits() -> 'MotorLimits'

Configure various controller limits.

Returns:

MotorLimits object that can be used for configuring the limits.

motor_type

@property
def motor_type() -> 'MotorType'

Check what motor type was this object initialized with.

Returns:

Properties and default settings of the connected motor type.

__init__

def __init__(port: MotorPort)

Tries to autodetect a motor, connected to the given port and initialize a new motor class.

Arguments:

• port: Motor port to use.

Raises:

• MotorInitializationFailedError: If autodetect fails (motor is not connected, unknown type of the connected motor).
• MotorPortAlreadyInUse: When trying to create new Motor on a port that is already in use.

__del__

def __del__()

Release the motor port for other uses.

close_motor

def close_motor()

Release the motor port for other uses.

is_connected

def is_connected() -> bool

Check if something is connected to the port.

Returns:

True if a non-empty port was detected; False otherwise.

is_ready

def is_ready() -> bool

Check if a correct motor is connected to the port and is ready to be controlled.

Returns:

True if a motor is connected, and it is the correct type; False otherwise.

current_angle

def current_angle() -> int

Query the current motor angle.

Returns:

Motor axle angle in degrees.

reset_angle

def reset_angle(new_value: int = 0) -> None

Set the accumulated angle to the provided position.

Assuming that the motor will not move, current_angle() will start returning the value in newValue.

Arguments:

• new_value: New motor position in degrees.

current_speed

def current_speed() -> int

Query the current motor rotational speed.

Returns:

Motor axle speed in degrees/second.

current_torque

def current_torque() -> int

Query the current estimated motor torque.

Returns:

Motor torque in milli-newton-meters.

is_stalled

def is_stalled() -> bool

Check if the motor is currently stalled.

Returns:

True if the motor is exceeding some limit, False otherwise.

coast

def coast() -> None

Let the motor spin freely.

This will float the motor windings.

brake

def brake() -> None

Passively brake the motor.

This will short the motor windings.

hold

def hold() -> None

Actively brake the motor at the current position.

This will actively control the motor to stay at the current position.

run_unregulated

def run_unregulated(fraction: float) -> None

Run the motor at a given fraction of the maximum available voltage.

Arguments:

• fraction: Value between -1.0 and +1.0 that determines the duty cycle.

run_at_voltage

def run_at_voltage(volts: float) -> None

Run the motor at the given voltage.

Arguments:

• volts: Desired voltage on the motors, in volts. Useful range is -battery voltage to +battery voltage (this is cca. -8V to +8V). The maximum range accepted by this function is -12V to +12V.

run_at_speed

def run_at_speed(deg_per_sec: int) -> None

Run the motor at a constant speed.

Arguments:

• deg_per_sec: Desired rotational speed, in degrees per second.

rotate_by_angle

def rotate_by_angle(angle: int,
                    speed: int,
                    timeout: Optional[int] = None) -> 'MovementEnd'

Turn the motor to a new position, relative to the current position.

Arguments:

• angle: Angle to rotate by, in degrees.
• speed: Speed to use for the maneuver, in degrees per second. If the provided speed is negative, absolute value is used.
• timeout: How long to wait for the maneuver to complete, in milliseconds. If zero, the function will return immediately. If the timeout expires, the motor is not stopped.

Returns:

Whether the wait-for-end was successful or why it ended, if it ended early.

rotate_to_angle

def rotate_to_angle(position: int,
                    speed: int,
                    timeout: Optional[int] = None) -> 'MovementEnd'

Turn the motor to a new position, relative to the zero position.

Arguments:

• position: Angle to rotate to, in degrees.
• speed: Speed to use for the maneuver, in degrees per second. If the provided speed is negative, absolute value is used.
• timeout: How long to wait for the maneuver to complete, in milliseconds. If zero, the function will return immediately. If the timeout expires, the motor is not stopped.

Returns:

Whether the wait-for-end was successful or why it ended, if it ended early.

rotate_to_angle_without_speed_control

def rotate_to_angle_without_speed_control(position: int) -> None

Try to get as fast as possible to the specified position.

This will ignore any speed and acceleration limits - you must provide these yourself by periodically calling this function with new positions.

Arguments:

• position: Angle to rotate to relative to the zero position, in degrees.

movement_done

def movement_done() -> bool

Check whether the last invoked position command has completed.

Returns:

True if the motor has reached the goal. True if the maneuver had to be interrupted (e.g., motor was unplugged). False if the motor is still moving.

wait_for_movement

def wait_for_movement(timeout: Optional[int] = None) -> 'MovementEnd'

Wait for the motor to complete the last position command.

Arguments:

• timeout: How long to wait for the maneuver to complete, in milliseconds. If zero, the function will return immediately. If the timeout expires, the motor is not stopped.

Returns:

Whether the wait-for-end was successful or why it ended, if it ended early.