56bbcde299
* removed logging * removing more logging * always use step for single/multiple motors * refactored schedule * account for accel ramp up and down * added default acc/decel * rounding speed/angle * remove hack * use acceleration time in run too * handle missing case * adding notes on motors * adding sample * fixed ramp simulation * clear defaults * some docs, more later * adding basic examples * remove debug msg * clean json * added move schedule * docs * basic docs
3.0 KiB
run
Set the rotation speed of the motor as a percentage of maximum speed.
motors.largeA.run(50)
The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
If you use just the speed number, the motor runs continuously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The value can be an amount of time, a turn angle in degrees, or a number of full rotations.
If you decide to use a value of rotation distance, you need to choose a type of movement unit.
~hint
If you use a number of milliseconds as movement units, then you don't need to include the unit type.
To run the motor for 500 milliseconds:
motors.largeA.run(50, 500)
~
Here is how you use each different movement unit to run the motor for a fixed rotation distance.
// Run motor for 700 Milliseconds.
motors.largeA.run(25, 700, MoveUnit.MilliSeconds);
// Run motors B and C for 700 Milliseconds again but no units specified.
motors.largeBC.run(25, 700);
// Run the motor for 45 seconds
motors.largeA.run(50, 45, MoveUnit.Seconds);
// Turn the motor for 270 degrees
motors.largeA.run(50, 270, MoveUnit.Degrees)
// Turn the motor at full speed for 9 full rotations
motors.largeA.run(100, 9, MoveUnit.Rotations);
Parameters
- speed: a number that is the percentage of full speed. A negative value runs the motor in the reverse direction.
- value: the number of movement units to rotate for. A value of
0means run the motor continuously. - unit: the movement unit of rotation. This can be
milliseconds,seconds,degrees, orrotations. If the number for value is0, this parameter isn't used.
~hint
** Reverse is negative speed**
Turning the motor in the opposite direction (reverse) is simple. Reverse is just a negative speed setting. To drive the motor in reverse at 25% speed:
motors.largeB.run(-25)
~
Multiple motors
When using run with multiple motors, there is no guarantee that their speed will stay in sync. Use tank or steer for synchronized motor operations.
motors.largeBC.run(50)
Examples
Drive the motor for 20 seconds
Run the motor connected to port A continuously. Pause 20 seconds and then stop the motor.
motors.largeA.run(75)
pause(20000)
motors.largeA.stop()
Backwards motion
Run the motor connected to port A in reverse. Pause 5 seconds and then stop the motor.
motors.largeA.run(-60)
pause(5000)
motors.largeA.stop()
Run the motor for 35 rotations
Run the motor connected to port B for 35 full rotations and then stop.
motors.largeB.run(50, 35, MoveUnit.Rotations)