Motor

LEGO® TECHNIC™ motors from the LEGO® Education SPIKE™ portfolio have an integrated rotation sensor (encoder) and can be positioned with 1-degree accuracy. The encoders can be queried to find the current position of the motor with respect to a ‘zero’ mark shown on the motor itself.

Motors with encoders
LEGO® Large angular motor 45602	BrickLink item 45602
LEGO® Medium angular motor 45603	BrickLink item 45603
LEGO® Small angular motor 45607

Other motors without encoders will report a 0 value if queried.

Motors without encoders
LEGO® Medium Linear motor 88008	BrickLink item 88008
Technic™ Large Motor 88013	BrickLink item 88013
Technic™ XL Motor 88014	BrickLink item 88014

class buildhat.Motor(port)

Motor device

Parameters:: port – Port of device
Raises:: DeviceError – Occurs if there is no motor attached to port

bias(bias)

Bias motor

Parameters:: bias – Value 0 to 1
Raises:: MotorError – Occurs if invalid bias value passed

Deprecated since version 0.6.0.

callback(func)

Set callback function

Parameters:: func – Callback function

coast(): Coast motor

property connected

Whether device is connected or not

Returns:: Connection status

static desc_for_id(typeid)

Translate integer type id to something more descriptive than the device name

Parameters:: typeid – Type of device
Returns:: Description of device

property description

Device on port info

Returns:: Device description

deselect(): Unselect data from mode

float(): Float motor

get()

Extract information from device

Returns:: Data from device
Raises:: DeviceError – Occurs if device not in valid mode

get_aposition()

Get absolute position of motor

Returns:: Absolute position of motor from -180 to 180
Return type:: int

get_position()

Get position of motor with relation to preset position (can be negative or positive)

Returns:: Position of motor in degrees from preset position
Return type:: int

get_speed()

Get speed of motor

Returns:: Speed of motor
Return type:: int

property interval

Interval between data points in milliseconds

Getter:: Gets interval
Setter:: Sets interval
Returns:: Device interval
Return type:: int

isconnected()

Whether it is connected or not

Raises:: DeviceError – Occurs if device no longer the same

mode(modev)

Set combimode or simple mode

Parameters:: modev – List of tuples for a combimode, or integer for simple mode

property name

Determine name of device on port

Returns:: Device name

static name_for_id(typeid)

Translate integer type id to device name (python class)

Parameters:: typeid – Type of device
Returns:: Name of device

off(): Turn off sensor

on(): Turn on sensor

plimit(plimit)

Limit power

Parameters:: plimit – Value 0 to 1
Raises:: MotorError – Occurs if invalid plimit value passed

pwm(pwmv)

PWM motor

Parameters:: pwmv – Value -1 to 1
Raises:: MotorError – Occurs if invalid pwm value passed

pwmparams(pwmthresh, minpwm)

PWM thresholds

Parameters:

pwmthresh – Value 0 to 1, threshold below, will switch from fast to slow, PWM
minpwm – Value 0 to 1, threshold below which it switches off the drive altogether

Raises:

MotorError – Occurs if invalid values are passed

property release

Determine if motor is released after running, so can be turned by hand

Getter:: Returns whether motor is released, so can be turned by hand
Setter:: Sets whether motor is released, so can be turned by hand
Returns:: Whether motor is released, so can be turned by hand
Return type:: bool

reverse(): Reverse polarity

run_for_degrees(degrees, speed=None, blocking=True)

Run motor for N degrees

Speed of 1 means 1 revolution / second

Parameters:

degrees – Number of degrees to rotate
speed – Speed ranging from -100 to 100
blocking – Whether call should block till finished

Raises:

MotorError – Occurs if invalid speed passed

run_for_rotations(rotations, speed=None, blocking=True)

Run motor for N rotations

Parameters:

rotations – Number of rotations
speed – Speed ranging from -100 to 100
blocking – Whether call should block till finished

Raises:

MotorError – Occurs if invalid speed passed

run_for_seconds(seconds, speed=None, blocking=True)

Run motor for N seconds

Parameters:

seconds – Time in seconds
speed – Speed ranging from -100 to 100
blocking – Whether call should block till finished

Raises:

MotorError – Occurs when invalid speed specified

run_to_position(degrees, speed=None, blocking=True, direction='shortest')

Run motor to position (in degrees)

Parameters:

degrees – Position in degrees from -180 to 180
speed – Speed ranging from 0 to 100
blocking – Whether call should block till finished
direction – shortest (default)/clockwise/anticlockwise

Raises:

MotorError – Occurs if invalid speed or angle passed

select()

Request data from mode

Raises:: DeviceError – Occurs if device not in valid mode

set_default_speed(default_speed)

Set the default speed of the motor

Parameters:: default_speed – Speed ranging from -100 to 100
Raises:: MotorError – Occurs if invalid speed passed

set_speed_unit_rpm(rpm=False)

Set whether to use RPM for speed units or not

Parameters:: rpm – Boolean to determine whether to use RPM for units

start(speed=None)

Start motor

Parameters:: speed – Speed ranging from -100 to 100
Raises:: MotorError – Occurs when invalid speed specified

stop(): Stop motor

property typeid

Type ID of device

Returns:: Type ID

property typeidcur

Type ID currently present

Returns:: Type ID

property when_rotated

Handle rotation events

Getter:: Returns function to be called when rotated
Setter:: Sets function to be called when rotated
Returns:: Callback function

Example

"""Example driving motors"""

import time

from buildhat import Motor

motor = Motor('A')
motorb = Motor('B')


def handle_motor(speed, pos, apos):
    """Motor data

    :param speed: Speed of motor
    :param pos: Position of motor
    :param apos: Absolute position of motor
    """
    print("Motor", speed, pos, apos)


motor.when_rotated = handle_motor
motor.set_default_speed(50)

print("Run for degrees 360")
motor.run_for_degrees(360)
time.sleep(3)

print("Run for degrees -360")
motor.run_for_degrees(-360)
time.sleep(3)

print("Start motor")
motor.start()
time.sleep(3)
print("Stop motor")
motor.stop()
time.sleep(1)

print("Run for degrees - 180")
motor.run_for_degrees(180)
time.sleep(3)

print("Run for degrees - 90")
motor.run_for_degrees(90)
time.sleep(3)

print("Run for rotations - 2")
motor.run_for_rotations(2)
time.sleep(3)

print("Run for seconds - 5")
motor.run_for_seconds(5)
time.sleep(3)

print("Run both")
motor.run_for_seconds(5, blocking=False)
motorb.run_for_seconds(5, blocking=False)
time.sleep(10)

print("Run to position -90")
motor.run_to_position(-90)
time.sleep(3)

print("Run to position 90")
motor.run_to_position(90)
time.sleep(3)

print("Run to position 180")
motor.run_to_position(180)
time.sleep(3)