├── LICENSE ├── README.rst └── ev3fast.py /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | Python language bindings for ev3dev 2 | =================================== 3 | 4 | A high performance drop-in replacement for ev3dev-lang-python_. It does not 5 | support all features (eg. onboard buttons and screen), but it can be loaded 6 | concurrently with the ev3dev-lang-python. Use ev3fast for your performance 7 | critical loops, and ev3dev-lang-python for everything else. As an added 8 | bonus, your Python program will load significantly faster if you use only 9 | ev3dev-lang-python-fast, and do not import ev3dev-lang-python. 10 | 11 | If you are not familiar with ev3dev-lang-python, you should start there first. 12 | 13 | Getting Started 14 | --------------- 15 | 16 | Read the documents for ev3dev-lang-python. Whatever applies there, applies 17 | here. 18 | 19 | Download ev3fast.py from this repository, and put it in the same directory 20 | as your python program. You can alternatively put it in one of the 21 | directories along your python import path, but this is not recommended. 22 | 23 | Performance Comparison 24 | ---------------------- 25 | 26 | **Sensor Benchmark (Loops per second)** 27 | 28 | ===================== ====== ======= ============ 29 | Sensor Type ev3dev ev3fast Improvements 30 | ===================== ====== ======= ============ 31 | Touch 379 1886 5x 32 | Color (Ambient) 179 2343 13x 33 | Color (Color) 157 2375 15x 34 | Color (Raw RGB) 118 1859 16x 35 | Color (Reflected) 178 2021 11x 36 | Ultrasonic (Distance) 48 1882 40x 37 | Ultrasonic (Listen) 60 2094 35x 38 | Gyro (Angle) 45 2314 51x 39 | Gyro (Rate) 231 2174 9x 40 | Gyro (Rate & Angle) 152 2130 14x 41 | ===================== ====== ======= ============ 42 | 43 | **Line Follower Benchmark** 44 | 45 | ============================= ================ 46 | Program Type Loops per second 47 | ============================= ================ 48 | EV3-G 427 49 | Python on ev3dev 32 50 | Python on ev3dev with ev3fast 205 51 | ============================= ================ 52 | 53 | The benchmark program is provided here if you want to try it out yourself. 54 | 55 | .. code-block:: python 56 | 57 | from time import perf_counter 58 | from ev3dev.ev3 import * 59 | #from ev3fast import * 60 | 61 | lMotor = LargeMotor('outA') 62 | rMotor = LargeMotor('outD') 63 | lSensor = ColorSensor('in1') 64 | rSensor = ColorSensor('in4') 65 | 66 | LOOPS = 1000 67 | 68 | startTime = perf_counter() 69 | for a in range(0,LOOPS): 70 | valueL = lSensor.raw 71 | valueR = rSensor.raw 72 | totalL = (valueL[0] + valueL[1] + valueL[2]) 73 | totalR = (valueR[0] + valueR[1] + valueR[2]) 74 | error = totalL - totalR 75 | lMotor.speed_sp = 200 + error 76 | rMotor.speed_sp = 200 - error 77 | lMotor.run_forever() 78 | rMotor.run_forever() 79 | endTime = perf_counter() 80 | 81 | lMotor.stop() 82 | rMotor.stop() 83 | 84 | print(str(LOOPS / (endTime - startTime))) 85 | 86 | To benchmark the ev3fast version, uncomment the line.. 87 | 88 | .. code-block:: python 89 | 90 | #from ev3fast import * 91 | 92 | Supported Classes 93 | ----------------- 94 | 95 | | class **Sensor** (address=None) 96 | | class **TouchSensor** (address=None) 97 | | class **ColorSensor** (address=None) 98 | | class **UltrasonicSensor** (address=None) 99 | | class **GyroSensor** (address=None) 100 | | class **Motor** (address=None) 101 | | class **LargeMotor** (address=None) 102 | | class **MediumMotor** (address=None) 103 | 104 | These are replacements for ev3dev-lang-python, and all properties and 105 | methods documented in the `ev3dev-lang-python Read the Docs page`_ are 106 | supported. If address isn’t specified, the first device matching the class 107 | will be loaded. 108 | 109 | Usage Examples 110 | -------------- 111 | 112 | Add the following to the top of your file: 113 | 114 | .. code-block:: python 115 | 116 | import ev3fast 117 | 118 | If you're loading ev3dev-lang-python concurrently, you can either import 119 | them under their own name... 120 | 121 | .. code-block:: python 122 | 123 | import ev3dev.ev3 as ev3 124 | import ev3fast 125 | 126 | slow = ev3.LargeMotor('outA') 127 | fast = ev3fast.LargeMotor('outB') 128 | 129 | ...or override ev3dev-lang-python... 130 | 131 | .. code-block:: python 132 | 133 | import ev3dev.ev3 as ev3 134 | import ev3fast as ev3 135 | 136 | fast = ev3.LargeMotor('outA') 137 | 138 | User Resources 139 | -------------- 140 | 141 | Library Documentation 142 | **Class documentation for this library can be found on the** 143 | `ev3dev-lang-python Read the Docs page`_ **.** If it's a supported class 144 | in ev3dev-lang-python-fast, it should (...probably) work identically to 145 | ev3dev-lang-python. 146 | 147 | 148 | .. _ev3dev: http://ev3dev.org 149 | .. _ev3dev-lang-python: https://github.com/ev3dev/ev3dev-lang-python 150 | .. _ev3dev-lang-python Read the Docs page: http://python-ev3dev.readthedocs.org/en/stable/ 151 | -------------------------------------------------------------------------------- /ev3fast.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import os 4 | import struct 5 | import select 6 | import time 7 | from collections import OrderedDict 8 | from math import pi 9 | 10 | WAIT_RUNNING_TIMEOUT = 100 11 | 12 | class Sensor: 13 | _DIRECTORY_BASE = '/sys/class/lego-sensor/sensor' 14 | 15 | _PRE_OPENS = [ 16 | ('bin_data', os.O_RDONLY), 17 | ('bin_data_format', os.O_RDONLY), 18 | ('command', os.O_WRONLY), 19 | ('decimals', os.O_RDONLY), 20 | ('mode', os.O_RDWR), 21 | ('num_values', os.O_RDONLY), 22 | ('units', os.O_RDONLY) 23 | ] 24 | 25 | _PRE_READS = [ 26 | ('address', str), 27 | ('driver_name', str), 28 | ('modes', str) 29 | ] 30 | 31 | _BYTES_FMT = { 32 | 'u8': (1, 'h'), 37 | 's32': (4, ' 2): 78 | self._fd[pre_open[2]] = fd 79 | else: 80 | self._fd[pre_open[0]] = fd 81 | 82 | def _pre_read(self): 83 | for pre_read in self._PRE_READS: 84 | try: 85 | with open(self._directory + pre_read[0], 'r') as f: 86 | setattr(self, pre_read[0], pre_read[1](f.read().rstrip())) 87 | except: 88 | pass 89 | 90 | def bin_data(self, fmt=None): 91 | value_size = self._BYTES_FMT[self.bin_data_format][0] 92 | num_bytes = self.num_values * value_size 93 | data = os.read(self._fd['bin_data'], num_bytes) 94 | if fmt: 95 | return struct.unpack(fmt, data) 96 | else: 97 | return bytearray(data) 98 | 99 | @property 100 | def bin_data_format(self): 101 | if self._bin_data_format_mode != self._currentMode: 102 | os.lseek(self._fd['bin_data_format'], 0, os.SEEK_SET) 103 | self._bin_data_format = os.read(self._fd['bin_data_format'], 100).decode('utf-8').rstrip() 104 | self._bin_data_format_mode = self._currentMode 105 | return self._bin_data_format 106 | 107 | @property 108 | def command(self): 109 | raise Exception("command is a write-only property!") 110 | 111 | @command.setter 112 | def command(self, value): 113 | os.write(self._fd['command'], str(value).encode('ascii')) 114 | return 0 115 | 116 | @property 117 | def commands(self): 118 | with open(self._directory + 'commands', 'r') as f: 119 | return f.read().rstrip() 120 | 121 | @property 122 | def decimals(self): 123 | if self._decimals_mode != self._currentMode: 124 | os.lseek(self._fd['decimals'], 0, os.SEEK_SET) 125 | self._decimals = int(os.read(self._fd['decimals'], 10).decode('utf-8').rstrip()) 126 | self._decimals_mode = self._currentMode 127 | return self._decimals 128 | 129 | @property 130 | def mode(self): 131 | return self._currentMode.rstrip() 132 | 133 | @mode.setter 134 | def mode(self, mode): 135 | if (self._currentMode != mode): 136 | os.write(self._fd['mode'], str(mode).encode('ascii')) 137 | self._currentMode = mode 138 | return 0 139 | 140 | @property 141 | def num_values(self): 142 | if self._num_values_mode != self._currentMode: 143 | os.lseek(self._fd['num_values'], 0, os.SEEK_SET) 144 | self._num_values = int(os.read(self._fd['num_values'], 10).decode('utf-8').rstrip()) 145 | self._num_values_mode = self._currentMode 146 | return self._num_values 147 | 148 | @property 149 | def units(self): 150 | if self._units_mode != self._currentMode: 151 | os.lseek(self._fd['num_values'], 0, os.SEEK_SET) 152 | self._units = str(os.read(self._fd['units'], 10).decode('utf-8').rstrip()) 153 | self._units_mode = self._currentMode 154 | return self._units 155 | 156 | def value(self, n=0): 157 | fmt = self._BYTES_FMT[self.bin_data_format] 158 | os.lseek(self._fd['bin_data'], 0, os.SEEK_SET) 159 | startByte = n * fmt[0] 160 | endByte = startByte + fmt[0] 161 | data = os.read(self._fd['bin_data'], endByte) 162 | return struct.unpack(fmt[1], data[startByte:endByte])[0] 163 | 164 | 165 | class TouchSensor(Sensor): 166 | _DRIVER_NAME = 'lego-ev3-touch' 167 | 168 | MODE_TOUCH = 'TOUCH' 169 | 170 | def __init__(self, address=None): 171 | self._PRE_OPENS.append(('value0', os.O_RDONLY)) 172 | super().__init__(address) 173 | 174 | @property 175 | def is_pressed(self): 176 | os.lseek(self._fd['value0'], 0, os.SEEK_SET) 177 | if (os.read(self._fd['value0'], 1) == '1'): 178 | return True 179 | else: 180 | return False 181 | 182 | @property 183 | def is_released(self): 184 | return not self.is_pressed 185 | 186 | def _wait(self, desired_state, timeout_ms, sleep_ms): 187 | tic = time.time() 188 | 189 | if sleep_ms: 190 | sleep_ms = float(sleep_ms/1000) 191 | 192 | while True: 193 | if self.is_pressed == desired_state: 194 | return True 195 | 196 | if timeout_ms is not None and time.time() >= tic + timeout_ms/1000: 197 | return False 198 | 199 | if sleep_ms: 200 | time.sleep(sleep_ms) 201 | 202 | def wait_for_pressed(self, timeout_ms=None, sleep_ms=10): 203 | return self._wait(True, timeout_ms, sleep_ms) 204 | 205 | def wait_for_released(self, timeout_ms=None, sleep_ms=10): 206 | return self._wait(False, timeout_ms, sleep_ms) 207 | 208 | def wait_for_bump(self, timeout_ms=None, sleep_ms=10): 209 | start_time = time.time() 210 | 211 | if self.wait_for_pressed(timeout_ms, sleep_ms): 212 | if timeout_ms is not None: 213 | timeout_ms -= int((time.time()-start_time) * 1000) 214 | return self.wait_for_pressed(timeout_ms, sleep_ms) 215 | return False 216 | 217 | 218 | class ColorSensor(Sensor): 219 | _DRIVER_NAME = 'lego-ev3-color' 220 | 221 | COLOR_NOCOLOR = 0 222 | COLOR_BLACK = 1 223 | COLOR_BLUE = 2 224 | COLOR_GREEN = 3 225 | COLOR_YELLOW = 4 226 | COLOR_RED = 5 227 | COLOR_WHITE = 6 228 | COLOR_BROWN = 7 229 | 230 | COLORS = ( 231 | 'NoColor', 232 | 'Black', 233 | 'Blue', 234 | 'Green', 235 | 'Yellow', 236 | 'Red', 237 | 'White', 238 | 'Brown', 239 | ) 240 | 241 | MODE_COL_REFLECT = 'COL-REFLECT' 242 | MODE_COL_AMBIENT = 'COL-AMBIENT' 243 | MODE_COL_COLOR = 'COL-COLOR' 244 | MODE_REF_RAW = 'REF-RAW' 245 | MODE_RGB_RAW = 'RGB-RAW' 246 | 247 | def __init__(self, address=None): 248 | self.red_max = 300 249 | self.green_max = 300 250 | self.blue_max = 300 251 | super().__init__(address) 252 | 253 | @property 254 | def reflected_light_intensity(self): 255 | if (self._currentMode != self.MODE_COL_REFLECT): 256 | self.mode = self.MODE_COL_REFLECT 257 | os.lseek(self._fd['bin_data'], 0, os.SEEK_SET) 258 | data = os.read(self._fd['bin_data'], 1) 259 | return struct.unpack(' 2): 660 | self._fd[pre_open[2]] = fd 661 | else: 662 | self._fd[pre_open[0]] = fd 663 | 664 | def _pre_read(self): 665 | for pre_read in self._PRE_READS: 666 | try: 667 | with open(self._directory + pre_read[0], 'r') as f: 668 | setattr(self, pre_read[0], pre_read[1](f.read())) 669 | except: 670 | pass 671 | 672 | @property 673 | def command(self): 674 | raise Exception("command is a write-only property!") 675 | 676 | @command.setter 677 | def command(self, value): 678 | os.write(self._fd['command'], value.encode('ascii')) 679 | return 0 680 | 681 | @property 682 | def duty_cycle(self): 683 | os.lseek(self._fd['duty_cycle'], 0, os.SEEK_SET) 684 | return int(os.read(self._fd['duty_cycle'], 5)) 685 | 686 | @property 687 | def duty_cycle_sp(self): 688 | os.lseek(self._fd['duty_cycle_sp'], 0, os.SEEK_SET) 689 | return int(os.read(self._fd['duty_cycle_sp'], 5)) 690 | 691 | @duty_cycle_sp.setter 692 | def duty_cycle_sp(self, value): 693 | os.write(self._fd['duty_cycle_sp'], str(int(value)).encode('ascii')) 694 | return 0 695 | 696 | @property 697 | def is_holding(self): 698 | return self.STATE_HOLDING in self.state 699 | 700 | @property 701 | def is_overloaded(self): 702 | return self.STATE_OVERLOADED in self.state 703 | 704 | @property 705 | def is_ramping(self): 706 | return self.STATE_RAMPING in self.state 707 | 708 | @property 709 | def is_running(self): 710 | return self.STATE_RUNNING in self.state 711 | 712 | @property 713 | def is_stalled(self): 714 | return self.STATE_STALLED in self.state 715 | 716 | @property 717 | def polarity(self): 718 | os.lseek(self._fd['polarity'], 0, os.SEEK_SET) 719 | return str(os.read(self._fd['polarity'], 100)) 720 | 721 | @polarity.setter 722 | def polarity(self, value): 723 | os.write(self._fd['polarity'], value.encode('ascii')) 724 | return 0 725 | 726 | @property 727 | def position(self): 728 | os.lseek(self._fd['position'], 0, os.SEEK_SET) 729 | return int(os.read(self._fd['position'], 100)) 730 | 731 | @position.setter 732 | def position(self, value): 733 | os.write(self._fd['position'], str(int(value)).encode('ascii')) 734 | return 0 735 | 736 | @property 737 | def position_d(self): 738 | os.lseek(self._fd['position_d'], 0, os.SEEK_SET) 739 | return int(os.read(self._fd['position_d'], 100)) 740 | 741 | @position_d.setter 742 | def position_d(self, value): 743 | os.write(self._fd['position_d'], str(int(value)).encode('ascii')) 744 | return 0 745 | 746 | @property 747 | def position_i(self): 748 | os.lseek(self._fd['position_i'], 0, os.SEEK_SET) 749 | return int(os.read(self._fd['position_i'], 100)) 750 | 751 | @position_i.setter 752 | def position_i(self, value): 753 | os.write(self._fd['position_i'], str(int(value)).encode('ascii')) 754 | return 0 755 | 756 | @property 757 | def position_p(self): 758 | os.lseek(self._fd['position_p'], 0, os.SEEK_SET) 759 | return int(os.read(self._fd['position_p'], 100)) 760 | 761 | @position_p.setter 762 | def position_p(self, value): 763 | os.write(self._fd['position_p'], str(int(value)).encode('ascii')) 764 | return 0 765 | 766 | @property 767 | def position_sp(self): 768 | os.lseek(self._fd['position_sp'], 0, os.SEEK_SET) 769 | return int(os.read(self._fd['position_sp'], 100)) 770 | 771 | @position_sp.setter 772 | def position_sp(self, value): 773 | os.write(self._fd['position_sp'], str(int(value)).encode('ascii')) 774 | return 0 775 | 776 | @property 777 | def ramp_down_sp(self): 778 | os.lseek(self._fd['ramp_down_sp'], 0, os.SEEK_SET) 779 | return int(os.read(self._fd['ramp_down_sp'], 100)) 780 | 781 | @ramp_down_sp.setter 782 | def ramp_down_sp(self, value): 783 | os.write(self._fd['ramp_down_sp'], str(int(value)).encode('ascii')) 784 | return 0 785 | 786 | @property 787 | def ramp_up_sp(self): 788 | os.lseek(self._fd['ramp_up_sp'], 0, os.SEEK_SET) 789 | return int(os.read(self._fd['ramp_up_sp'], 100)) 790 | 791 | @ramp_up_sp.setter 792 | def ramp_up_sp(self, value): 793 | os.write(self._fd['ramp_up_sp'], str(int(value)).encode('ascii')) 794 | return 0 795 | 796 | @property 797 | def speed(self): 798 | os.lseek(self._fd['speed'], 0, os.SEEK_SET) 799 | return int(os.read(self._fd['speed'], 100)) 800 | 801 | @property 802 | def speed_d(self): 803 | os.lseek(self._fd['speed_d'], 0, os.SEEK_SET) 804 | return int(os.read(self._fd['speed_d'], 100)) 805 | 806 | @speed_d.setter 807 | def speed_d(self, value): 808 | os.write(self._fd['speed_d'], str(int(value)).encode('ascii')) 809 | return 0 810 | 811 | @property 812 | def speed_i(self): 813 | os.lseek(self._fd['speed_i'], 0, os.SEEK_SET) 814 | return int(os.read(self._fd['speed_i'], 100)) 815 | 816 | @speed_i.setter 817 | def speed_i(self, value): 818 | os.write(self._fd['speed_i'], str(int(value)).encode('ascii')) 819 | return 0 820 | 821 | @property 822 | def speed_p(self): 823 | os.lseek(self._fd['speed_p'], 0, os.SEEK_SET) 824 | return int(os.read(self._fd['speed_p'], 100)) 825 | 826 | @speed_p.setter 827 | def speed_p(self, value): 828 | os.write(self._fd['speed_p'], str(int(value)).encode('ascii')) 829 | return 0 830 | 831 | @property 832 | def speed_sp(self): 833 | os.lseek(self._fd['speed_sp'], 0, os.SEEK_SET) 834 | return int(os.read(self._fd['speed_sp'], 100)) 835 | 836 | @speed_sp.setter 837 | def speed_sp(self, value): 838 | if value > 0: 839 | os.write(self._fd['speed_sp'], self.speed_sp_table[0][value]) 840 | else: 841 | os.write(self._fd['speed_sp'], self.speed_sp_table[1][-value]) 842 | return 0 843 | 844 | @property 845 | def state(self): 846 | os.lseek(self._fd['state'], 0, os.SEEK_SET) 847 | return str(os.read(self._fd['state'], 1024)) 848 | 849 | @property 850 | def stop_action(self): 851 | """ 852 | Reading returns the current stop action. 853 | Use stop_actions for the list of possible values. 854 | """ 855 | os.lseek(self._fd['stop_action'], 0, os.SEEK_SET) 856 | return str(os.read(self._fd['stop_action'], 100)) 857 | 858 | @stop_action.setter 859 | def stop_action(self, value): 860 | os.write(self._fd['stop_action'], value.encode('ascii')) 861 | return 0 862 | 863 | @property 864 | def time_sp(self): 865 | os.lseek(self._fd['time_sp'], 0, os.SEEK_SET) 866 | return int(os.read(self._fd['time_sp'], 100)) 867 | 868 | @time_sp.setter 869 | def time_sp(self, value): 870 | os.write(self._fd['time_sp'], str(int(value)).encode('ascii')) 871 | return 0 872 | 873 | def reset(self, **kwargs): 874 | """ 875 | Resets the motor the default value. It will also stop the motor. 876 | """ 877 | for k in kwargs: 878 | setattr(self, k, kwargs[k]) 879 | os.write(self._fd['command'], b'reset\n') 880 | 881 | def run_direct(self, **kwargs): 882 | """ 883 | Run the motor at the duty cycle specified by duty_cycle_sp. 884 | Unlike other run commands, changing duty_cycle_sp 885 | while running will take effect immediately. 886 | """ 887 | for k in kwargs: 888 | setattr(self, k, kwargs[k]) 889 | os.write(self._fd['command'], b'run-direct\n') 890 | 891 | def run_forever(self, **kwargs): 892 | """ 893 | Run the motor until another command is sent. 894 | """ 895 | for k in kwargs: 896 | setattr(self, k, kwargs[k]) 897 | os.write(self._fd['command'], b'run-forever\n') 898 | 899 | def run_timed(self, **kwargs): 900 | """ 901 | Run for the amount of time specified in time_sp. 902 | Then, stop the motor as specified by stop_action. 903 | """ 904 | for k in kwargs: 905 | setattr(self, k, kwargs[k]) 906 | os.write(self._fd['command'], b'run-timed\n') 907 | 908 | def run_to_abs_pos(self, **kwargs): 909 | """ 910 | Run to the absolute position as specified by position_sp. 911 | Then, stop the motor as specified by stop_action. 912 | """ 913 | for k in kwargs: 914 | setattr(self, k, kwargs[k]) 915 | os.write(self._fd['command'], b'run-to-abs-pos\n') 916 | 917 | def run_to_rel_pos(self, **kwargs): 918 | """ 919 | Run to the relative position as specified by position_sp. 920 | New position will be current position + position_sp 921 | When the new position is reached, the motor will stop, as specified 922 | by stop_action. 923 | """ 924 | for k in kwargs: 925 | setattr(self, k, kwargs[k]) 926 | os.write(self._fd['command'], b'run-to-rel-pos\n') 927 | 928 | def stop(self, **kwargs): 929 | """ 930 | Stop any of the run commands before they are complete using the 931 | action specified by stop_action. 932 | """ 933 | for k in kwargs: 934 | setattr(self, k, kwargs[k]) 935 | os.write(self._fd['command'], b'stop\n') 936 | 937 | def wait(self, cond, timeout=None): 938 | """ 939 | Blocks until ``cond(self.state)`` is ``True``. The condition is 940 | checked when there is an I/O event related to the ``state`` attribute. 941 | Exits early when ``timeout`` (in milliseconds) is reached. 942 | 943 | Returns ``True`` if the condition is met, and ``False`` if the timeout 944 | is reached. 945 | 946 | Valid flags for state attribute: running, ramping, holding, 947 | overloaded and stalled 948 | """ 949 | poll = select.poll() 950 | poll.register(self._fd['state'], select.POLLIN) 951 | 952 | while True: 953 | event = poll.poll(timeout) 954 | 955 | if len(event) == 0: 956 | return False 957 | 958 | if cond(self.state): 959 | return True 960 | 961 | def wait_until(self, s, timeout=None): 962 | """ 963 | Blocks until ``s`` is in ``self.state``. The condition is checked when 964 | there is an I/O event related to the ``state`` attribute. Exits early 965 | when ``timeout`` (in milliseconds) is reached. 966 | 967 | Returns ``True`` if the condition is met, and ``False`` if the timeout 968 | is reached. 969 | 970 | Example:: 971 | m.wait_until('stalled') 972 | """ 973 | return self.wait(lambda state: s in state, timeout) 974 | 975 | def wait_until_not_moving(self, timeout=None): 976 | """ 977 | Blocks until one of the following conditions are met: 978 | - ``running`` is not in ``self.state`` 979 | - ``stalled`` is in ``self.state`` 980 | - ``holding`` is in ``self.state`` 981 | The condition is checked when there is an I/O event related to 982 | the ``state`` attribute. Exits early when ``timeout`` (in 983 | milliseconds) is reached. 984 | 985 | Returns ``True`` if the condition is met, and ``False`` if the timeout 986 | is reached. 987 | 988 | Example:: 989 | 990 | m.wait_until_not_moving() 991 | """ 992 | return self.wait(lambda state: self.STATE_RUNNING not in state or self.STATE_STALLED in state, timeout) 993 | 994 | def wait_while(self, s, timeout=None): 995 | """ 996 | Blocks until ``s`` is not in ``self.state``. The condition is checked 997 | when there is an I/O event related to the ``state`` attribute. Exits 998 | early when ``timeout`` (in milliseconds) is reached. 999 | 1000 | Returns ``True`` if the condition is met, and ``False`` if the timeout 1001 | is reached. 1002 | 1003 | Example:: 1004 | 1005 | m.wait_while('running') 1006 | """ 1007 | return self.wait(lambda state: s not in state, timeout) 1008 | 1009 | def _set_rel_position_degrees_and_speed_sp(self, degrees, speed): 1010 | degrees = degrees if speed >= 0 else -degrees 1011 | speed = abs(speed) 1012 | 1013 | position_delta = int(round((degrees * self.count_per_rot)/360)) 1014 | speed_sp = int(round(speed)) 1015 | 1016 | self.position_sp = position_delta 1017 | self.speed_sp = speed_sp 1018 | 1019 | def on_for_rotations(self, speed, rotations, brake=True, block=True): 1020 | """ 1021 | Rotate the motor at ``speed`` for ``rotations`` 1022 | 1023 | ``speed`` can be a percentage or a :class:`ev3dev2.motor.SpeedValue` 1024 | object, enabling use of other units. 1025 | """ 1026 | if not isinstance(speed, SpeedValue): 1027 | if -100 <= speed <= 100: 1028 | speed = SpeedPercent(speed) 1029 | speed_sp = speed.to_native_units(self) 1030 | else: 1031 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1032 | else: 1033 | speed_sp = int(round(speed.to_native_units(self))) 1034 | 1035 | self._set_rel_position_degrees_and_speed_sp(rotations*360, speed_sp) 1036 | 1037 | if brake: 1038 | self.stop_action = self.STOP_ACTION_HOLD 1039 | else: 1040 | self.stop_action = self.STOP_ACTION_COAST 1041 | 1042 | self.run_to_rel_pos() 1043 | 1044 | if block: 1045 | self.wait_until('running', timeout=WAIT_RUNNING_TIMEOUT) 1046 | self.wait_until_not_moving() 1047 | 1048 | def on_for_degrees(self, speed, degrees, brake=True, block=True): 1049 | """ 1050 | Rotate the motor at ``speed`` for ``degrees`` 1051 | 1052 | ``speed`` can be a percentage or a :class:`ev3dev2.motor.SpeedValue` 1053 | object, enabling use of other units. 1054 | """ 1055 | if not isinstance(speed, SpeedValue): 1056 | if -100 <= speed <= 100: 1057 | speed = SpeedPercent(speed) 1058 | speed_sp = speed.to_native_units(self) 1059 | else: 1060 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1061 | else: 1062 | speed_sp = int(round(speed.to_native_units(self))) 1063 | 1064 | self._set_rel_position_degrees_and_speed_sp(degrees, speed_sp) 1065 | 1066 | if brake: 1067 | self.stop_action = self.STOP_ACTION_HOLD 1068 | else: 1069 | self.stop_action = self.STOP_ACTION_COAST 1070 | 1071 | self.run_to_rel_pos() 1072 | 1073 | if block: 1074 | self.wait_until('running', timeout=WAIT_RUNNING_TIMEOUT) 1075 | self.wait_until_not_moving() 1076 | 1077 | def on_to_position(self, speed, position, brake=True, block=True): 1078 | """ 1079 | Rotate the motor at ``speed`` to ``position`` 1080 | 1081 | ``speed`` can be a percentage or a :class:`ev3dev2.motor.SpeedValue` 1082 | object, enabling use of other units. 1083 | """ 1084 | if not isinstance(speed, SpeedValue): 1085 | if -100 <= speed <= 100: 1086 | speed = SpeedPercent(speed) 1087 | speed_sp = speed.to_native_units(self) 1088 | else: 1089 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1090 | else: 1091 | speed_sp = int(round(speed.to_native_units(self))) 1092 | 1093 | self.speed_sp = int(round(speed_sp)) 1094 | self.position_sp = position 1095 | 1096 | if brake: 1097 | self.stop_action = self.STOP_ACTION_HOLD 1098 | else: 1099 | self.stop_action = self.STOP_ACTION_COAST 1100 | 1101 | self.run_to_abs_pos() 1102 | 1103 | if block: 1104 | self.wait_until('running', timeout=WAIT_RUNNING_TIMEOUT) 1105 | self.wait_until_not_moving() 1106 | 1107 | def on_for_seconds(self, speed, seconds, brake=True, block=True): 1108 | """ 1109 | Rotate the motor at ``speed`` for ``seconds`` 1110 | 1111 | ``speed`` can be a percentage or a :class:`ev3dev2.motor.SpeedValue` 1112 | object, enabling use of other units. 1113 | """ 1114 | if seconds < 0: 1115 | raise ValueError("Seconds is negative.") 1116 | 1117 | if not isinstance(speed, SpeedValue): 1118 | if -100 <= speed <= 100: 1119 | speed = SpeedPercent(speed) 1120 | speed_sp = speed.to_native_units(self) 1121 | else: 1122 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1123 | else: 1124 | speed_sp = int(round(speed.to_native_units(self))) 1125 | 1126 | self.speed_sp = int(round(speed_sp)) 1127 | self.time_sp = int(seconds * 1000) 1128 | 1129 | if brake: 1130 | self.stop_action = self.STOP_ACTION_HOLD 1131 | else: 1132 | self.stop_action = self.STOP_ACTION_COAST 1133 | 1134 | self.run_timed() 1135 | 1136 | if block: 1137 | self.wait_until('running', timeout=WAIT_RUNNING_TIMEOUT) 1138 | self.wait_until_not_moving() 1139 | 1140 | def on(self, speed, brake=True, block=False): 1141 | if not isinstance(speed, SpeedValue): 1142 | if -100 <= speed <= 100: 1143 | speed = SpeedPercent(speed) 1144 | speed_sp = speed.to_native_units(self) 1145 | else: 1146 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1147 | else: 1148 | speed_sp = int(round(speed.to_native_units(self))) 1149 | 1150 | self.speed_sp = int(round(speed_sp)) 1151 | 1152 | if brake: 1153 | self.stop_action = self.STOP_ACTION_HOLD 1154 | else: 1155 | self.stop_action = self.STOP_ACTION_COAST 1156 | 1157 | self.run_forever() 1158 | 1159 | if block: 1160 | self.wait_until('running', timeout=WAIT_RUNNING_TIMEOUT) 1161 | self.wait_until_not_moving() 1162 | 1163 | def off(self, brake=True): 1164 | 1165 | if brake: 1166 | self.stop_action = self.STOP_ACTION_HOLD 1167 | else: 1168 | self.stop_action = self.STOP_ACTION_COAST 1169 | 1170 | self.stop() 1171 | 1172 | 1173 | class LargeMotor(Motor): 1174 | _DRIVER_NAME = 'lego-ev3-l-motor' 1175 | 1176 | 1177 | class MediumMotor(Motor): 1178 | _DRIVER_NAME = 'lego-ev3-m-motor' 1179 | 1180 | 1181 | class MotorSet: 1182 | def __init__(self, motor_specs, desc=None): 1183 | self.motors = OrderedDict() 1184 | for motor_port in sorted(motor_specs.keys()): 1185 | motor_class = motor_specs[motor_port] 1186 | self.motors[motor_port] = motor_class(motor_port) 1187 | self.motors[motor_port].reset() 1188 | self.desc = desc 1189 | self.WAIT_RUNNING_TIMEOUT = 100 1190 | 1191 | def __str__(self): 1192 | if self.desc: 1193 | return self.desc 1194 | else: 1195 | return self.__class__.__name__ 1196 | 1197 | def reset(self, **kwargs): 1198 | for motor in self.motors.values(): 1199 | for k in kwargs: 1200 | setattr(self, k, kwargs[k]) 1201 | os.write(motor._fd['command'], b'reset\n') 1202 | 1203 | def run_forever(self, **kwargs): 1204 | for motor in self.motors.values(): 1205 | for k in kwargs: 1206 | setattr(motor, k, kwargs[k]) 1207 | os.write(motor._fd['command'], b'run-forever\n') 1208 | 1209 | def run_to_abs_pos(self, **kwargs): 1210 | for motor in self.motors.values(): 1211 | for k in kwargs: 1212 | setattr(motor, k, kwargs[k]) 1213 | os.write(motor._fd['command'], b'run-to-abs-pos\n') 1214 | 1215 | def run_to_rel_pos(self, **kwargs): 1216 | for motor in self.motors.values(): 1217 | for k in kwargs: 1218 | setattr(motor, k, kwargs[k]) 1219 | os.write(motor._fd['command'], b'run-to-rel-pos\n') 1220 | 1221 | def run_timed(self, **kwargs): 1222 | for motor in self.motors.values(): 1223 | for k in kwargs: 1224 | setattr(motor, k, kwargs[k]) 1225 | os.write(motor._fd['command'], b'run-timed\n') 1226 | 1227 | def run_direct(self, **kwargs): 1228 | for motor in self.motors.values(): 1229 | for k in kwargs: 1230 | setattr(motor, k, kwargs[k]) 1231 | os.write(motor._fd['command'], b'run-direct\n') 1232 | 1233 | def off(self, motors=None, brake=True): 1234 | motors = motors if motors is not None else self.motors.values() 1235 | 1236 | for motor in motors: 1237 | motor.stop_action = motor.STOP_ACTION_HOLD if brake else motor.STOP_ACTION_COAST 1238 | 1239 | for motor in motors: 1240 | motor.stop() 1241 | 1242 | def stop(self, motors=None, brake=True): 1243 | self.off(motors, brake) 1244 | 1245 | @property 1246 | def is_running(self, motors=None, state=Motor.STATE_RUNNING): 1247 | motors = motors if motors is not None else self.motors.values() 1248 | for motor in motors: 1249 | if state not in motor.state: 1250 | return False 1251 | return True 1252 | 1253 | @property 1254 | def is_ramping(self, motors=None, state=Motor.STATE_RAMPING): 1255 | motors = motors if motors is not None else self.motors.values() 1256 | for motor in motors: 1257 | if state not in motor.state: 1258 | return False 1259 | return True 1260 | 1261 | @property 1262 | def is_holding(self, motors=None, state=Motor.STATE_HOLDING): 1263 | motors = motors if motors is not None else self.motors.values() 1264 | for motor in motors: 1265 | if state not in motor.state: 1266 | return False 1267 | return True 1268 | 1269 | @property 1270 | def is_overloaded(self, motors=None, state=Motor.STATE_OVERLOADED): 1271 | motors = motors if motors is not None else self.motors.values() 1272 | for motor in motors: 1273 | if state not in motor.state: 1274 | return False 1275 | return True 1276 | 1277 | @property 1278 | def is_stalled(self, motors=None, state=Motor.STATE_STALLED): 1279 | motors = motors if motors is not None else self.motors.values() 1280 | for motor in motors: 1281 | if state not in motor.state: 1282 | return False 1283 | return True 1284 | 1285 | def wait(self, cond, timeout=None, motors=None): 1286 | motors = motors if motors is not None else self.motors.values() 1287 | 1288 | for motor in motors: 1289 | motor.wait(cond, timeout) 1290 | 1291 | def wait_until_not_moving(self, timeout=None, motors=None): 1292 | motors = motors if motors is not None else self.motors.values() 1293 | 1294 | for motor in motors: 1295 | motor.wait_until_not_moving(timeout) 1296 | 1297 | def wait_until(self, s, timeout=None, motors=None): 1298 | motors = motors if motors is not None else self.motors.values() 1299 | 1300 | for motor in motors: 1301 | motor.wait_until(s, timeout) 1302 | 1303 | def wait_while(self, s, timeout=None, motors=None): 1304 | motors = motors if motors is not None else self.motors.values() 1305 | 1306 | for motor in motors: 1307 | motor.wait_while(s, timeout) 1308 | 1309 | def _block(self): 1310 | self.wait_until('running', timeout=self.WAIT_RUNNING_TIMEOUT) 1311 | self.wait_until_not_moving() 1312 | 1313 | 1314 | class MoveTank(MotorSet): 1315 | 1316 | def __init__(self, left_motor_port, right_motor_port, desc=None, motor_class=LargeMotor): 1317 | motor_specs = { 1318 | left_motor_port : motor_class, 1319 | right_motor_port : motor_class, 1320 | } 1321 | MotorSet.__init__(self, motor_specs, desc) 1322 | self.left_motor = self.motors[left_motor_port] 1323 | self.right_motor = self.motors[right_motor_port] 1324 | self.max_speed = self.left_motor.max_speed 1325 | 1326 | def on_for_degrees(self, left_speed, right_speed, degrees, brake=True, block=True): 1327 | """ 1328 | Rotate the motors at 'left_speed' and 'right_speed' for 'degrees'. 1329 | Speeds can be percentages or any SpeedValue implementation. 1330 | 1331 | If the left speed is not equal to the right speed (i.e., the robot will 1332 | turn), the motor on the outside of the turn will rotate for the full 1333 | ``degrees`` while the motor on the inside will have its requested 1334 | distance calculated according to the expected turn. 1335 | """ 1336 | if not isinstance(left_speed, SpeedValue): 1337 | if -100 <= left_speed <= 100: 1338 | left_speed_obj = SpeedPercent(left_speed) 1339 | left_speed_var = int(round(left_speed_obj.to_native_units(self.left_motor))) 1340 | else: 1341 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1342 | else: 1343 | left_speed_var = int(round(left_speed.to_native_units(self.left_motor))) 1344 | 1345 | if not isinstance(right_speed, SpeedValue): 1346 | if -100 <= right_speed <= 100: 1347 | right_speed_obj = SpeedPercent(right_speed) 1348 | right_speed_var = int(round(right_speed_obj.to_native_units(self.right_motor))) 1349 | else: 1350 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1351 | else: 1352 | right_speed_var = int(round(right_speed.to_native_units(self.right_motor))) 1353 | 1354 | if degrees == 0 or (left_speed_var == 0 and right_speed_var == 0): 1355 | left_degrees = 0 1356 | right_degrees = 0 1357 | elif abs(left_speed_var) > abs(right_speed_var): 1358 | left_degrees = degrees 1359 | right_degrees = abs(right_speed_var / left_speed_var) * degrees 1360 | else: 1361 | left_degrees = abs(left_speed_var / right_speed_var) * degrees 1362 | right_degrees = degrees 1363 | 1364 | left_degrees_in = round((left_degrees * self.left_motor.count_per_rot)/360) 1365 | right_degrees_in = round((right_degrees * self.right_motor.count_per_rot)/360) 1366 | 1367 | self.left_motor.position_sp = left_degrees_in if left_speed_var >= 0 else -left_degrees_in 1368 | self.left_motor.speed_sp = abs(left_speed_var) 1369 | self.right_motor.position_sp = right_degrees_in if right_speed_var >= 0 else -right_degrees_in 1370 | self.right_motor.speed_sp = abs(right_speed_var) 1371 | 1372 | self.left_motor.stop_action = self.left_motor.STOP_ACTION_HOLD if brake else self.left_motor.STOP_ACTION_COAST 1373 | self.right_motor.stop_action = self.right_motor.STOP_ACTION_HOLD if brake else self.right_motor.STOP_ACTION_COAST 1374 | 1375 | self.left_motor.run_to_rel_pos() 1376 | self.right_motor.run_to_rel_pos() 1377 | 1378 | if block: 1379 | self._block() 1380 | 1381 | def on_for_rotations(self, left_speed, right_speed, rotations, brake=True, block=True): 1382 | """ 1383 | Rotate the motors at 'left_speed' and 'right_speed' for 'rotations'. 1384 | Speeds can be percentages or any SpeedValue implementation. 1385 | 1386 | If the left speed is not equal to the right speed (i.e., the robot will 1387 | turn), the motor on the outside of the turn will rotate for the full 1388 | ``rotations`` while the motor on the inside will have its requested 1389 | distance calculated according to the expected turn. 1390 | """ 1391 | MoveTank.on_for_degrees(self, left_speed, right_speed, rotations * 360, brake, block) 1392 | 1393 | def on_for_seconds(self, left_speed, right_speed, seconds, brake=True, block=True): 1394 | """ 1395 | Rotate the motors at 'left_speed & right_speed' for 'seconds'. 1396 | Speeds can be percentages or any SpeedValue implementation. 1397 | """ 1398 | if seconds < 0: 1399 | raise ValueError("Seconds is negative.") 1400 | 1401 | if not isinstance(left_speed, SpeedValue): 1402 | if -100 <= left_speed <= 100: 1403 | left_speed_obj = SpeedPercent(left_speed) 1404 | left_speed_var = int(round(left_speed_obj.to_native_units(self.left_motor))) 1405 | else: 1406 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1407 | else: 1408 | left_speed_var = int(round(left_speed.to_native_units(self.left_motor))) 1409 | 1410 | 1411 | if not isinstance(right_speed, SpeedValue): 1412 | if -100 <= right_speed <= 100: 1413 | right_speed_obj = SpeedPercent(right_speed) 1414 | right_speed_var = int(round(right_speed_obj.to_native_units(self.right_motor))) 1415 | else: 1416 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1417 | else: 1418 | right_speed_var = int(round(right_speed.to_native_units(self.right_motor))) 1419 | 1420 | self.left_motor.speed_sp = left_speed_var 1421 | self.left_motor.time_sp = seconds * 1000 1422 | self.right_motor.speed_sp = right_speed_var 1423 | self.right_motor.time_sp = seconds * 1000 1424 | 1425 | self.left_motor.stop_action = self.left_motor.STOP_ACTION_HOLD if brake else self.left_motor.STOP_ACTION_COAST 1426 | self.right_motor.stop_action = self.right_motor.STOP_ACTION_HOLD if brake else self.right_motor.STOP_ACTION_COAST 1427 | 1428 | self.left_motor.run_timed() 1429 | self.right_motor.run_timed() 1430 | 1431 | if block: 1432 | self._block() 1433 | 1434 | def on(self, left_speed, right_speed): 1435 | """ 1436 | Start rotating the motors according to ``left_speed`` and ``right_speed`` forever. 1437 | Speeds can be percentages or any SpeedValue implementation. 1438 | 1439 | """ 1440 | if not isinstance(left_speed, SpeedValue): 1441 | if -100 <= left_speed <= 100: 1442 | left_speed_obj = SpeedPercent(left_speed) 1443 | left_speed_var = int(round(left_speed_obj.to_native_units(self.left_motor))) 1444 | else: 1445 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1446 | else: 1447 | left_speed_var = int(round(left_speed.to_native_units(self.left_motor))) 1448 | 1449 | if not isinstance(right_speed, SpeedValue): 1450 | if -100 <= right_speed <= 100: 1451 | right_speed_obj = SpeedPercent(right_speed) 1452 | right_speed_var = int(round(right_speed_obj.to_native_units(self.right_motor))) 1453 | else: 1454 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1455 | else: 1456 | right_speed_var = int(round(right_speed.to_native_units(self.right_motor))) 1457 | 1458 | self.left_motor.speed_sp = left_speed_var 1459 | self.right_motor.speed_sp = right_speed_var 1460 | self.left_motor.run_forever() 1461 | self.right_motor.run_forever() 1462 | 1463 | 1464 | class MoveSteering(MoveTank): 1465 | 1466 | def get_speed_steering(self, steering, speed): 1467 | if steering > 100 or steering < -100: 1468 | raise ValueError("Invalid Steering Value. Between -100 and 100 (inclusive).") 1469 | 1470 | # Assumes left motor's speed stats are the same as the right motor's 1471 | if not isinstance(speed, SpeedValue): 1472 | if -100 <= speed <= 100: 1473 | speed_obj = SpeedPercent(speed) 1474 | speed_var = speed_obj.to_native_units(self.left_motor) 1475 | else: 1476 | raise Exception("Invalid Speed Percentage. Speed must be between -100 and 100)") 1477 | else: 1478 | speed_var = speed.to_native_units(self.left_motor) 1479 | 1480 | left_speed = speed_var 1481 | right_speed = speed_var 1482 | speed_factor = (50 - abs(float(steering))) / 50 1483 | 1484 | if steering >= 0: 1485 | right_speed *= speed_factor 1486 | else: 1487 | left_speed *= speed_factor 1488 | 1489 | return(left_speed, right_speed) 1490 | 1491 | def on_for_rotations(self, steering, speed, rotations, brake=True, block=True): 1492 | """ 1493 | Rotate the motors according to the provided ``steering``. 1494 | 1495 | The distance each motor will travel follows the rules of :meth:`MoveTank.on_for_rotations`. 1496 | """ 1497 | (left_speed, right_speed) = self.get_speed_steering(steering, speed) 1498 | MoveTank.on_for_rotations(self, SpeedNativeUnits(left_speed), SpeedNativeUnits(right_speed), rotations, brake, block) 1499 | 1500 | def on_for_degrees(self, steering, speed, degrees, brake=True, block=True): 1501 | """ 1502 | Rotate the motors according to the provided ``steering``. 1503 | 1504 | The distance each motor will travel follows the rules of :meth:`MoveTank.on_for_degrees`. 1505 | """ 1506 | (left_speed, right_speed) = self.get_speed_steering(steering, speed) 1507 | MoveTank.on_for_degrees(self, SpeedNativeUnits(left_speed), SpeedNativeUnits(right_speed), degrees, brake, block) 1508 | 1509 | def on_for_seconds(self, steering, speed, seconds, brake=True, block=True): 1510 | """ 1511 | Rotate the motors according to the provided ``steering`` for ``seconds``. 1512 | """ 1513 | (left_speed, right_speed) = self.get_speed_steering(steering, speed) 1514 | MoveTank.on_for_seconds(self, SpeedNativeUnits(left_speed), SpeedNativeUnits(right_speed), seconds, brake, block) 1515 | 1516 | def on(self, steering, speed): 1517 | """ 1518 | Start rotating the motors according to the provided ``steering`` and 1519 | ``speed`` forever. 1520 | """ 1521 | (left_speed, right_speed) = self.get_speed_steering(steering, speed) 1522 | MoveTank.on(self, SpeedNativeUnits(left_speed), SpeedNativeUnits(right_speed)) --------------------------------------------------------------------------------