MotorPair

class buildhat.MotorPair(leftport, rightport)

Pair of motors

Parameters:

motora – One of the motors to drive
motorb – Other motor in pair to drive

Raises:

DeviceError – Occurs if there is no motor attached to port

property release

Determine if motors are released after running, so can be turned by hand

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

run_for_degrees(degrees, speedl=None, speedr=None)

Run pair of motors for degrees

Parameters:

degrees – Number of degrees
speedl – Speed ranging from -100 to 100
speedr – Speed ranging from -100 to 100

run_for_rotations(rotations, speedl=None, speedr=None)

Run pair of motors for N rotations

Parameters:

rotations – Number of rotations
speedl – Speed ranging from -100 to 100
speedr – Speed ranging from -100 to 100

run_for_seconds(seconds, speedl=None, speedr=None)

Run pair for N seconds

Parameters:

seconds – Time in seconds
speedl – Speed ranging from -100 to 100
speedr – Speed ranging from -100 to 100

run_to_position(degreesl, degreesr, speed=None, direction='shortest')

Run pair to position (in degrees)

Parameters:

degreesl – Position in degrees for left motor
degreesr – Position in degrees for right motor
speed – Speed ranging from -100 to 100
direction – shortest (default)/clockwise/anticlockwise

set_default_speed(default_speed)

Set the default speed of the motor

Parameters:: default_speed – Speed ranging from -100 to 100

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(speedl=None, speedr=None)

Start motors

Parameters:

speedl – Speed ranging from -100 to 100
speedr – Speed ranging from -100 to 100

stop(): Stop motors

Example

"""Example for pair of motors"""

from buildhat import MotorPair

pair = MotorPair('C', 'D')
pair.set_default_speed(20)
pair.run_for_rotations(2)

pair.run_for_rotations(1, speedl=100, speedr=20)

pair.run_to_position(20, 100, speed=20)