controllables.MotorBase

class controllables.MotorBase(port: Optional[int] = None, sub_class: Optional[type] = None)

Base class for motor references.

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 spinning the motor.

Note

If a transmitter is spinning 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.

In the below example, the velocity is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.velocity(): {motor.velocity(): 0.1f}'

rpm() → float

Returns the angular velocity of the motor in rotations per minute.

In the below example, the rpm is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.rpm(): {motor.rpm(): 0.1f}'

angle() → float

Returns the angle of the motor in radians.

In the below example, the angle is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase
from math import tau

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    message = f'motor.angle: {motor.angle(): 0.2f}'
    message += '\n'
    message += f'percentage: {motor.angle() / tau}'
    screen.text = message

degrees() → float

Returns the angle of the motor in degrees.

In the below example, the angle in degrees is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.degrees(): {motor.degrees(): 0.0f}'

property flipped: bool

The flip property of the motor avaliable in the properties tab.

In the below example, the property is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.flipped: {motor.flipped}'

In the next example the property is set to True on start up. It assumes that the motor is assigned to port 0.

from controllables import MotorBase

MotorBase(0).flipped = True

property max_velocity: float

The maximum angular velocity of the motor in radians per second.

In the below example, the property is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.max_velocity: {motor.max_velocity: 0.1f}'

In the next example the property is set to 0 on start up. It assumes that the motor is assigned to port 0.

from controllables import MotorBase

MotorBase(0).max_velocity = 0

property max_rpm: float

The max rpm property of the motor avaliable in the properties tab.

In the below example, the property is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.max_rpm: {motor.max_rpm: 0.0f}'

In the next example the property is set to 0 on start up. It assumes that the motor is assigned to port 0.

from controllables import MotorBase

MotorBase(0).max_rpm = 0

property max_torque: float

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

In the below example, the property is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.max_torque: {motor.max_torque: 0.0f}'

In the next example the property is set to 0 on start up. It assumes that the motor is assigned to port 0.

from controllables import MotorBase

MotorBase(0).max_torque = 0

property acceleration_time: float

The acceleration time (in seconds) property of the motor avaliable in the properties tab.

In the below example, the property is displayed on a TextScreen. It assumes that the screen is on port 0 and the motor is assigned to port 1.

from controllables import TextScreen, MotorBase

screen = TextScreen(0)
motor = MotorBase(1)

while True:
    screen.text = f'motor.acceleration_time: {motor.acceleration_time: 0.1f}'

In the next example the property is set to 0 on start up. It assumes that the motor is assigned to port 0.

from controllables import MotorBase

MotorBase(0).acceleration_time = 0

name() → str

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

The following example assumes that any controllable or sensor is assigned to port 0 and prints out its name.

from ports import PortReference

print(PortReference(0).name())