"""Motor module."""
import struct
from modi_plus.module.module import OutputModule
[docs]class Motor(OutputModule):
PROPERTY_MOTOR_STATE = 2
PROPERTY_MOTOR_SPEED = 17
PROPERTY_MOTOR_ANGLE = 18
PROPERTY_MOTOR_ANGLE_APPEND = 19
PROPERTY_MOTOR_STOP = 20
PROPERTY_OFFSET_CURRENT_ANGLE = 0
PROPERTY_OFFSET_CURRENT_SPEED = 2
PROPERTY_OFFSET_TARGET_ANGLE = 4
PROPERTY_OFFSET_TARGET_SPEED = 6
@property
def angle(self) -> int:
"""Returns current angle
:return: Current angle value
:rtype: int
"""
offset = Motor.PROPERTY_OFFSET_CURRENT_ANGLE
raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
data = struct.unpack("H", raw[offset:offset + 2])[0]
return data
@property
def target_angle(self) -> int:
"""Returns target angle
:return: Target angle value
:rtype: int
"""
offset = Motor.PROPERTY_OFFSET_TARGET_ANGLE
raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
data = struct.unpack("H", raw[offset:offset + 2])[0]
return data
@property
def speed(self) -> int:
"""Returns current speed
:return: Current speed value
:rtype: int
"""
offset = Motor.PROPERTY_OFFSET_CURRENT_SPEED
raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
data = struct.unpack("H", raw[offset:offset + 2])[0]
return data
@property
def target_speed(self) -> int:
"""Returns target speed
:return: Target speed value
:rtype: int
"""
offset = Motor.PROPERTY_OFFSET_TARGET_SPEED
raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
data = struct.unpack("H", raw[offset:offset + 2])[0]
return data
[docs] def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
"""Sets the angle of the motor
:param target_angle: Angle to set the motor.
:type target_angle: int
:param target_speed: Speed to reach target angle.
:type target_angle: int
:return: None
"""
self._set_property(
destination_id=self._id,
property_num=Motor.PROPERTY_MOTOR_ANGLE,
property_values=(("u16", target_angle),
("u16", target_speed))
)
self._target_angle = target_angle
[docs] def set_speed(self, target_speed: int) -> None:
"""Sets the speed of the motor
:param target_speed: Speed to set the motor.
:type target_speed: int
:return: None
"""
self._set_property(
destination_id=self._id,
property_num=Motor.PROPERTY_MOTOR_SPEED,
property_values=(("s32", target_speed),)
)
self._target_speed = target_speed
[docs] def append_angle(self, target_angle: int, target_speed: int = 70) -> None:
"""append the angle form current angle of the motor
:param target_angle: Angle to append the motor angle.
:type target_angle: int
:param target_speed: Speed to reach target angle.
:type target_angle: int
:return: None
"""
self._set_property(
destination_id=self._id,
property_num=Motor.PROPERTY_MOTOR_ANGLE_APPEND,
property_values=(("s16", target_angle),
("u16", target_speed))
)
[docs] def stop(self) -> None:
"""Stop operating motor
:return: None
"""
self._set_property(
destination_id=self._id,
property_num=Motor.PROPERTY_MOTOR_STOP,
property_values=()
)