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Feature: add technic angular motors #30

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2 changes: 2 additions & 0 deletions bricknil/const.py
Original file line number Diff line number Diff line change
Expand Up @@ -64,5 +64,7 @@ class Color(Enum):
0x003A: 'Powered Up Hub IMU Gyro',
0x003B: 'Powered Up Hub IMU Position',
0x003C: 'Powered Up Hub IMU Temperature',
0x004B: 'Technic Control+ Medium Angular Motor',
0x004C: 'Technic Control+ Large Angular Motor',
}

68 changes: 68 additions & 0 deletions bricknil/sensor/motor.py
Original file line number Diff line number Diff line change
Expand Up @@ -363,6 +363,74 @@ class CPlusXLMotor(TachoMotor):
_sensor_id = 0x2F


class CPlusMediumAngularMotor(TachoMotor):
""" Access the Technic Control Plus Medium Angular motors

These are similar to the :class:`InternalMotor` with build-in tachometer and
sensor for sending back the motor's current speed and position. You
don't need to use the sensors, and can treat this as strictly an
output.

Examples::

# Basic connection to the motor on Port A
@attach(CPlusMediumAngularMotor, name='motor')

# Report back when motor speed changes. You must have a motor_change method defined
@attach(CPlusMediumAngularMotor, name='motor', capabilities=['sense_speed'])

# Only report back when speed change exceeds 5 units, and position changes (degrees)
@attach(CPlusMediumAngularMotor, name='motor', capabilities=[('sense_speed', 5), 'sense_pos'])

And then within the run body::

await self.motor.set_speed(50) # Setting the speed
await self.motor.ramp_speed(80, 2000) # Ramp speed to 80 over 2 seconds
await self.motor.set_pos(90, speed=20) # Turn clockwise to 3 o'clock position
await self.motor.rotate(60, speed=-50) # Turn 60 degrees counter-clockwise from current position

See Also:
* :class:`TrainMotor` for connecting to a train motor
* :class:`InternalMotor` for connecting to the Boost hub built-in motors

"""

_sensor_id = 0x4B

class CPlusLargeAngularMotor(TachoMotor):
""" Access the Technic Control Plus Large Angular motors

These are similar to the :class:`InternalMotor` with build-in tachometer and
sensor for sending back the motor's current speed and position. You
don't need to use the sensors, and can treat this as strictly an
output.

Examples::

# Basic connection to the motor on Port A
@attach(CPlusLargeAngularMotor, name='motor')

# Report back when motor speed changes. You must have a motor_change method defined
@attach(CPlusLargeAngularMotor, name='motor', capabilities=['sense_speed'])

# Only report back when speed change exceeds 5 units, and position changes (degrees)
@attach(CPlusLargeAngularMotor, name='motor', capabilities=[('sense_speed', 5), 'sense_pos'])

And then within the run body::

await self.motor.set_speed(50) # Setting the speed
await self.motor.ramp_speed(80, 2000) # Ramp speed to 80 over 2 seconds
await self.motor.set_pos(90, speed=20) # Turn clockwise to 3 o'clock position
await self.motor.rotate(60, speed=-50) # Turn 60 degrees counter-clockwise from current position

See Also:
* :class:`TrainMotor` for connecting to a train motor
* :class:`InternalMotor` for connecting to the Boost hub built-in motors

"""

_sensor_id = 0x4C

class TrainMotor(Motor):
"""
Connects to the train motors.
Expand Down