controllables.DCMotor

class controllables.DCMotor(port: Optional[int] = None)

Reference to a DC motor part. Base class: MotorBase.

In addition to the methods and properties in the MotorBase, DCMotor provides the brake_force() and brake_time() properties.

The following code block assumes that a DC motors are assigned to ports 0-3 with the first 2 on the left and the last 2 on the right. It also assumes that none of the motors are flipped.

from controllables import DCMotor
from inputs import Input

#get the motors
left_motors = [DCMotor(0),DCMotor(1)]
right_motors = [DCMotor(2),DCMotor(3)]

def go_forward():
    for motor in left_motors:
        motor.spin(-1)
    for motor in right_motors:
        motor.spin(1)

def go_backward():
    for motor in left_motors:
        motor.spin(1)
    for motor in right_motors:
        motor.spin(-1)

def go_left():
    for motor in left_motors + right_motors:
        motor.spin(.5)

def go_right():
    for motor in left_motors + right_motors:
        motor.spin(-.5)

def stop():
    for motor in left_motors + right_motors:
        motor.stop()

#a class to hold the information for each button
class Control():
    def __init__(self,key,onpress):
        self.stream = Input.stream(key)
        self.onpress = onpress

#the list of our controls
controls = [
    Control("a",go_left),
    Control("d",go_right),
    Control("w",go_forward),
    Control("s",go_backward)
    ]

#keep the pressed controls in a stack so that
#we can remember which was pressed most recently
stack : list[Control] = []

while True:
    #for each control
    for control in controls:
        #listen to its key events
        for event in control.stream:
            #if the key was pressed
            if event:
                #call its onpress
                control.onpress()
                #and add it to the stack
                stack.append(control)
            else:
                #remove the control from the stack
                if control in stack:
                    stack.remove(control)
                #if there are any keys still being pressed
                if len(stack) > 0:
                    #call their onpress function
                    stack[-1].onpress()
                else:
                    #otherwise, stop
                    stop()

property brake_force: float: The brake force property (in newton meters over radians per second) of the motor available in the properties tab. The torque applied to brake the motor is higher when the motor is spinning faster.

property brake_time: float: The brake time (in seconds) property of the motor avaliable in the properties tab.

property acceleration_time: float: The acceleration time (in seconds) property of the motor avaliable in the properties tab.

angle() → float: Returns the angle of the motor in radians.

degrees() → float: Returns the angle of the motor in degrees.

property flipped: bool: The flip property of the motor avaliable in the properties tab.

property max_rpm: float: The max rpm property of the motor avaliable in the properties tab.

property max_torque: float: The max torque (in newton meters) property of the motor avaliable in the properties tab.

property max_velocity: float: The maximum angular velocity of the motor in radians per second.

name() → str

Returns the user editable name of the controllable as found in the properties tab of the game.

from ports import PortReference

print(PortReference(0).name())

rpm() → float: Returns the angular velocity of the motor in rotations per minute.

spin(power: float = 1)

Sends a signal to spin the motor. power should be set to a float from -1 to 1 representing the proportion of max velocity at which the motor will run. Negative values run the motor backwards.

from controllables import MotorBase
import time

motor = MotorBase(0)

motor.spin()
time.sleep(1)
motor.stop()

stop()

Stops running the motor.

Note

If a transmitter is running the motor, this will not stop it.

from controllables import MotorBase
import time

motor = MotorBase(0)

motor.spin()
time.sleep(1)
motor.stop()

velocity() → float: Returns the angular velocity of the motor in radians per second.