PiStorms.PiStormsMotor Class Reference

PiStormsMotor: This class provides functions for motor control. More...

Public Member Functions
def	pos
	Returns the current encoder position of the motor. More...
def	resetPos
	Resets the encoder position of the specified motor. More...
def	setSpeed
	Run the motor at a set speed for an unlimited duration. More...
def	setSpeedSync
	Run the two motors of the said bank in sync with each other. More...
def	floatSync
	Stop both the motors of said bank at the same time. More...
def	brakeSync
	Stop both the motors of said bank at the same time. More...
def	brake
	Stop the motor abruptly with brake. More...
def	float
	Stop the motor smoothly with float. More...
def	hold
	Stop the motor abruptly and hold the current position. More...
def	runSecs
	Run the motor for a specific time in seconds. More...
def	isBusy
	Check if the motor is running. More...
def	waitUntilNotBusy
	Wait until the motor is no longer running. More...
def	isStalled
	Check if the motor is stalled. More...
def	isOverloaded
	Check if the motor is overloaded. More...
def	runDegs
	Run the motor for a specific amount of degrees. More...
def	SetPerformanceParameters
	Set the motor PID parameters (PiStorms PID parameters are default for NXT/EV3 motors). More...
def	ReadPerformanceParameters

Detailed Description

PiStormsMotor: This class provides functions for motor control.

Remarks

There is no need to initialize this class directly. This is done automatically during the PiStorms init.

Member Function Documentation

def PiStorms.PiStormsMotor.brake

(

self

)

Stop the motor abruptly with brake.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.brake()

def PiStorms.PiStormsMotor.brakeSync

(

self

)

Stop both the motors of said bank at the same time.

motors are stopped with a brake. You can call this function on any motor of that bank and it will work on both motors of that bank.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
#stop both motors of BankA synchronized.
psm.BAM1.brakeSync()

def PiStorms.PiStormsMotor.float

(

self

)

Stop the motor smoothly with float.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.float()

def PiStorms.PiStormsMotor.floatSync

(

self

)

Stop both the motors of said bank at the same time.

motors are stopped smoothly with float You can call this function on any motor of that bank and it will work on both motors of that bank.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
#stop both motors of BankA synchronized.
psm.BAM1.floatSync()

def PiStorms.PiStormsMotor.hold

(

self

)

Stop the motor abruptly and hold the current position.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.hold()

def PiStorms.PiStormsMotor.isBusy

(

self

)

Check if the motor is running.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
motorState = psm.BAM1.isBusy()
if(motorState == False):
    # do some task

def PiStorms.PiStormsMotor.isOverloaded

(

self

)

Check if the motor is overloaded.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
overloadState = psm.BAM1.isOverloaded()
if(overloadState == True):
    # do some task

def PiStorms.PiStormsMotor.isStalled

(

self

)

Check if the motor is stalled.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
stallState = psm.BAM1.isStalled()
if(stallState == True):
    # do some task

def PiStorms.PiStormsMotor.pos

(

self

)

Returns the current encoder position of the motor.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
position = psm.BAM1.pos()
if(position > 720):
    # do some task

def PiStorms.PiStormsMotor.resetPos

(

self

)

Resets the encoder position of the specified motor.

Parameters

self	The object pointer.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.resetPos()

def PiStorms.PiStormsMotor.runDegs	(		self,
			degs,
			speed = 100,
			brakeOnCompletion = False,
			holdOnCompletion = False
	)

Run the motor for a specific amount of degrees.

Parameters

self	The object pointer.
degs	The number of degrees to run the motor.
speed	The speed at which to turn the motor.
brakeOnCompletion	Choose to brake or float the motor upon completion with True (brake) or False (float).
holdOnCompletion	Choose to hold the motor position upon completion with True (hold) or False (release).

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.runDegs(720,100,True,False)

def PiStorms.PiStormsMotor.runSecs	(		self,
			secs,
			speed,
			brakeOnCompletion = False
	)

Run the motor for a specific time in seconds.

Parameters

self	The object pointer.
secs	The number of seconds to run the motor.
speed	The speed at which to turn the motor.
brakeOnCompletion	Choose to brake or float the motor upon completion with True (brake) or False (float).

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.runSecs(5,100,True)

def PiStorms.PiStormsMotor.SetPerformanceParameters	(		self,
			Kp_tacho,
			Ki_tacho,
			Kd_tacho,
			Kp_speed,
			Ki_speed,
			Kd_speed,
			passcount,
			tolerance
	)

Set the motor PID parameters (PiStorms PID parameters are default for NXT/EV3 motors).

Only one set of PID parameters can be set per bank and will reset to default upon new power cycle

Parameters

self	The object pointer.
Kp_tacho	Proportional-gain of the encoder position of the motor.
Ki_tacho	Integral-gain of the encoder position of the motor.
Kd_tacho	Derivative-gain of the encoder position of the motor.
Kp_speed	Proportional-gain of the speed of the motor.
Ki_speed	Integral-gain of the speed of the motor.
Kd_speed	Derivative-gain of the speed of the motor.
passcount	The number of times the encoder reading should be within tolerance.
tolerance	The tolerance (in ticks) for encoder positioning .

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.SetPerformanceParameters(6,0,0,1,0,0,10,5)

def PiStorms.PiStormsMotor.setSpeed	(		self,
			speed
	)

Run the motor at a set speed for an unlimited duration.

Parameters

self	The object pointer.
speed	The speed at which to turn the motor.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
psm.BAM1.setSpeed(100)

def PiStorms.PiStormsMotor.setSpeedSync	(		self,
			speed
	)

Run the two motors of the said bank in sync with each other.

at a set speed for an unlimited duration You can call this function on any motor of that bank and it will work on both motors of that bank.

Parameters

self	The object pointer.
speed	The speed at which to turn the motors

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
#run both motors of BankA in sync:
psm.BAM1.setSpeedSync(100)

def PiStorms.PiStormsMotor.waitUntilNotBusy	(		self,
			timeout = -1
	)

Wait until the motor is no longer running.

Parameters

self	The object pointer.
timeout	The timeout value as a factor of 10ms.

Remarks

To use this function in your program:

from PiStorms import PiStorms 
...
psm = PiStorms()
boolMotorState = psm.BAM1.waitUntilNotBusy()
if(overloadState == True):
    # do some task

---

The documentation for this class was generated from the following file:

• PiStorms/sys/PiStorms.py