Motor

Set PWM

set_pwm(self, pwm)

pwm must be between 0 and 255; where 127 = 100% CW and 129 = 100% CCW

0-100% CW -> 0-127 pwm 0-100% CCW -> 255-129

Sets a constant torque PWM signal to the motor

Robo.Motor1.set_pwm(60)

Spin Distance

spin_distance(self, vel, distance, wd=89)

vel must be between 0 and 100%

distance must be an integer in centimeters

wd is the wheel diameter and is by default 89 mm, the diameter of the large wheel.

If different wheels are attached please specify the diameter in mm

Robo will spin the motor at a constant velocity for the specified distance. If resistance is applied the motor will increase torque to try and maintain the velocity.

When approaching the end distance the motor slows down to ensure it covers the specified distance and does not overshoot

Robo.Motor1.set_distance(60, 80)

Spin Velocity

spin_velocity(self, vel)

vel must be between 0 and 100%

Robo will spin the motor at a constant velocity. If resistance is applied the motor will increase torque to try and maintain the velocity.

Robo.Motor1.set_velocity(60)

Stop

stop(self)

Stops the motor

Robo.Motor1.stop()

Check Motor Action

check_action(self)

Returns 1 if the action is completed

while not Robo.Motor1.check_action():
        # do stuff