26 lines
789 B
Markdown
26 lines
789 B
Markdown
|
# Set Run Phase
|
||
|
|
|
||
|
|
Allows to specify an acceleration or deceleration phases for run commands.
|
||
|
|
|
||
|
|
```sig
|
||
|
|
motors.largeD.setRunPhase(MovePhase.Acceleration, 1, MoveUnit.Seconds)
|
||
|
|
```
|
||
|
|
|
||
|
|
Once the run phase is specified on a motor (or pair of motors),
|
||
|
|
it will be automatically applied to [run](/reference/motors/run) commands.
|
||
|
|
|
||
|
|
## Time vs Rotation
|
||
|
|
|
||
|
|
The phases specified for time units (seconds, milliseconds) only apply to run with time
|
||
|
|
moves. Similarly, the phases specified for rotation units (# rotation, degrees) only
|
||
|
|
apply to run with rotation units.
|
||
|
|
|
||
|
|
## Examples
|
||
|
|
|
||
|
|
```blocks
|
||
|
|
motors.largeB.setRunPhase(MovePhase.Acceleration, 0.5, MoveUnit.Seconds)
|
||
|
|
motors.largeB.setRunPhase(MovePhase.Deceleration, 0.2, MoveUnit.Seconds)
|
||
|
|
forever(function () {
|
||
|
|
motors.largeB.run(50, 1, MoveUnit.Seconds)
|
||
|
|
})
|
||
|
|
```
|