Class MoveTank

Declaration

Documentation

tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
# drive in a turn for 10 rotations of the outer motor
tank_drive.on_for_rotations(50, 75, 10)

Methods

• ▶ def __init__(self, left_motor_port, right_motor_port, desc=None, motor_class=LargeMotor) override

  inherited doc motor_specs is a dictionary such as

  source link

  This method overrides ev3dev2.motor.MotorSet.__init__.

  {

  OUTPUT_A : LargeMotor, OUTPUT_C : LargeMotor,

  System Message: WARNING/2 (<string>, line 4)

  Definition list ends without a blank line; unexpected unindent.

  }

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveDifferential
  • ev3dev2.control.webserver.WebControlledTank
  • ev3dev2.control.rc_tank.RemoteControlledTank
• ▷ def cs(self) @property

  @property
  def cs(self)

  source link
• ▷ def cs(self, cs) @cs.setter

  @cs.setter
  def cs(

  self,

  cs,

  )

  source link
• ▶ def follow_gyro_angle(self, kp, ki, kd, speed, target_angle=0, sleep_time=0.01, ...)

  PID gyro angle follower

  def follow_gyro_angle(

  self,

  kp,

  ki,

  kd,

  speed,

  target_angle=0,

  sleep_time=0.01,

  follow_for=follow_for_forever,

  **kwargs,

  )

  source link

  kp, ki, and kd are the PID constants.

  speed is the desired speed of the midpoint of the robot

  target_angle is the angle we want to maintain

  sleep_time is how many seconds we sleep on each pass through

  the loop. This is to give the robot a chance to react to the new motor settings. This should be something small such as 0.01 (10ms).

  follow_for is called to determine if we should keep following the

  desired angle or stop. This function will be passed self (the current MoveTank object). Current supported options are: - follow_for_forever - follow_for_ms

  **kwargs will be passed to the follow_for function

  Example:

  from ev3dev2.motor import OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent, follow_for_ms
  from ev3dev2.sensor.lego import GyroSensor
  
  # Instantiate the MoveTank object
  tank = MoveTank(OUTPUT_A, OUTPUT_B)
  
  # Initialize the tank's gyro sensor
  tank.gyro = GyroSensor()
  
  # Calibrate the gyro to eliminate drift, and to initialize the current angle as 0
  tank.gyro.calibrate()
  
  try:
  
      # Follow the target_angle for 4500ms
      tank.follow_gyro_angle(
          kp=11.3, ki=0.05, kd=3.2,
          speed=SpeedPercent(30),
          target_angle=0,
          follow_for=follow_for_ms,
          ms=4500
      )
  except FollowGyroAngleErrorTooFast:
      tank.stop()
      raise

• ▶ def follow_line(self, kp, ki, kd, speed, target_light_intensity=None, follow_left_edge=True, ...)

  PID line follower

  def follow_line(

  self,

  kp,

  ki,

  kd,

  speed,

  target_light_intensity=None,

  follow_left_edge=True,

  white=60,

  off_line_count_max=20,

  sleep_time=0.01,

  follow_for=follow_for_forever,

  **kwargs,

  )

  source link

  kp, ki, and kd are the PID constants.

  speed is the desired speed of the midpoint of the robot

  target_light_intensity is the reflected light intensity when the color sensor

  is on the edge of the line. If this is None we assume that the color sensor is on the edge of the line and will take a reading to set this variable.

  follow_left_edge determines if we follow the left or right edge of the line

  white is the reflected_light_intensity that is used to determine if we have

  lost the line

  off_line_count_max is how many consecutive times through the loop the

  reflected_light_intensity must be greater than white before we declare the line lost and raise an exception

  sleep_time is how many seconds we sleep on each pass through

  the loop. This is to give the robot a chance to react to the new motor settings. This should be something small such as 0.01 (10ms).

  follow_for is called to determine if we should keep following the

  line or stop. This function will be passed self (the current MoveTank object). Current supported options are: - follow_for_forever - follow_for_ms

  **kwargs will be passed to the follow_for function

  Example:

  from ev3dev2.motor import OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent, follow_for_ms
  from ev3dev2.sensor.lego import ColorSensor
  
  tank = MoveTank(OUTPUT_A, OUTPUT_B)
  tank.cs = ColorSensor()
  
  try:
      # Follow the line for 4500ms
      tank.follow_line(
          kp=11.3, ki=0.05, kd=3.2,
          speed=SpeedPercent(30),
          follow_for=follow_for_ms,
          ms=4500
      )
  except LineFollowErrorTooFast:
      tank.stop()
      raise

• ▷ def gyro(self) @property

  @property
  def gyro(self)

  source link
• ▷ def gyro(self, gyro) @gyro.setter

  @gyro.setter
  def gyro(

  self,

  gyro,

  )

  source link
• ▶ def on(self, left_speed, right_speed)

  Start rotating the motors according to ``left_speed`` and ``right_speed`` forever. Speeds can be percentages or any SpeedValue implementation.

  source link

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveSteering
  • ev3dev2.motor.MoveJoystick
• ▶ def on_for_degrees(self, left_speed, right_speed, degrees, brake=True, block=True)

  Rotate the motors at 'left_speed & right_speed' for 'degrees'. Speeds can be percentages or any SpeedValue implementation.

  source link

  If the left speed is not equal to the right speed (i.e., the robot will turn), the motor on the outside of the turn will rotate for the full degrees while the motor on the inside will have its requested distance calculated according to the expected turn.

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveSteering
• ▶ def on_for_rotations(self, left_speed, right_speed, rotations, brake=True, block=True)

  Rotate the motors at 'left_speed & right_speed' for 'rotations'. Speeds can be percentages or any SpeedValue implementation.

  source link

  If the left speed is not equal to the right speed (i.e., the robot will turn), the motor on the outside of the turn will rotate for the full rotations while the motor on the inside will have its requested distance calculated according to the expected turn.

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveSteering
• ▶ def on_for_seconds(self, left_speed, right_speed, seconds, brake=True, block=True)

  Rotate the motors at 'left_speed & right_speed' for 'seconds'. Speeds can be percentages or any SpeedValue implementation.

  source link

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveSteering
• ▶ def turn_degrees(self, speed, target_angle, brake=True, error_margin=2, sleep_time=0.01)

  Use a GyroSensor to rotate in place for ``target_angle``

  source link

  speed is the desired speed of the midpoint of the robot

  target_angle is the number of degrees we want to rotate

  brake hit the brakes once we reach target_angle

  error_margin is the +/- angle threshold to control how accurate the turn should be

  sleep_time is how many seconds we sleep on each pass through

  the loop. This is to give the robot a chance to react to the new motor settings. This should be something small such as 0.01 (10ms).

  Rotate in place for target_degrees at speed

  Example:

  from ev3dev2.motor import OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent
  from ev3dev2.sensor.lego import GyroSensor
  
  # Instantiate the MoveTank object
  tank = MoveTank(OUTPUT_A, OUTPUT_B)
  
  # Initialize the tank's gyro sensor
  tank.gyro = GyroSensor()
  
  # Calibrate the gyro to eliminate drift, and to initialize the current angle as 0
  tank.gyro.calibrate()
  
  # Pivot 30 degrees
  tank.turn_degrees(
      speed=SpeedPercent(5),
      target_angle=30
  )

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveDifferential
• ▶ def turn_left(self, speed, degrees, brake=True, error_margin=2, sleep_time=0.01)

  Rotate counter-clockwise ``degrees`` in place

  source link

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveDifferential
• ▶ def turn_right(self, speed, degrees, brake=True, error_margin=2, sleep_time=0.01)

  Rotate clockwise ``degrees`` in place

  source link

  Overrides

  This method is overriden in:

  • ev3dev2.motor.MoveDifferential

Inherited methods

• Methods inherited from ev3dev2.motor.MotorSet:
  __str__, is_holding, is_overloaded, is_ramping, is_running, is_stalled, off, reset, run_direct, run_forever, run_timed, run_to_abs_pos, run_to_rel_pos, set_args, set_polarity, stop, wait, wait_until, wait_until_not_moving, wait_while

Subclasses

• ev3dev2.motor.MoveSteering
• ev3dev2.motor.MoveDifferential
• ev3dev2.motor.MoveJoystick
• ev3dev2.control.rc_tank.RemoteControlledTank

Reexports

• Imported in ev3dev2.control.rc_tank.

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