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created first draft of wheel class

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d3rped 2018-03-18 15:05:23 +01:00
parent 5b787bc400
commit 2fdb165f6d
1 changed files with 16 additions and 5 deletions
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21
src/wheel.py
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@ -5,13 +5,24 @@ class Wheel:
def __init__(self, port): def __init__(self, port):
self._motor = ev3.LargeMotor(port) self._motor = ev3.LargeMotor(port)
self._motor.stop_action = 'brake' self._motor.stop_action = 'brake'
self._speed = 50 self._speed = 20
self._motor.duty_cycle_sp = self._speed
def run(self): def run(self):
pass self._motor.run_direct()
def stop(self): def stop(self):
pass self._motor.stop()
def speed_set(self): def speed_set(self, newspeed):
pass 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