From 2fdb165f6d73e5b2cbaf485a659c5ef89ac52287 Mon Sep 17 00:00:00 2001
From: d3rped <derped@c3d2.de>
Date: Sun, 18 Mar 2018 15:05:23 +0100
Subject: [PATCH] created first draft of wheel class

---
 src/wheel.py | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/src/wheel.py b/src/wheel.py
index c73936f..0340914 100644
--- a/src/wheel.py
+++ b/src/wheel.py
@@ -5,13 +5,24 @@ class Wheel:
     def __init__(self, port):
         self._motor = ev3.LargeMotor(port)
         self._motor.stop_action = 'brake'
-        self._speed = 50
+        self._speed = 20
+        self._motor.duty_cycle_sp = self._speed
 
     def run(self):
-        pass
+        self._motor.run_direct()
 
     def stop(self):
-        pass
+        self._motor.stop()
 
-    def speed_set(self):
-        pass
+    def speed_set(self, newspeed):
+        self._speed = newspeed
+        self._motor.duty_cycle_sp = self._speed
+
+    def speed_mod(self, modifier):
+        self._speed = self._speed + modifier
+        self._motor.duty_cycle_sp = self._speed
+
+    def getmovement(self):
+        self.position = self._motor.position
+        self._motor.position.reset()
+        return self.position