robolab/src/wheel.py

#!/usr/bin/env python3

import ev3dev.ev3 as ev3


class Wheel:
    def __init__(self, port):
        self._motor = ev3.LargeMotor(port)
        self._motor.stop_action = 'brake'
        self._motor.duty_cycle_sp = 20

    def run(self):
        self._motor.run_direct()

    def stop(self):
        self._motor.stop()

    def speed_set(self, newspeed):
        self._motor.duty_cycle_sp = newspeed

    def speed_mod(self, modifier):
        self._motor.duty_cycle_sp = self._motor.duty_cycle_sp + modifier

    def turnbyamount(self, posdif, speed):
        self._motor.run_to_rel_pos(position_sp=posdif, speed_sp=speed)

    def getmovement(self):
        self.position = self._motor.position
        self._motor.position = self._motor.position - self.position
        return self.position