spikedev.motor¶

class spikedev.motor.MotorSpeed¶

Bases: object

A base class for MotorSpeed classes. Do not use this directly. Use one of:

MotorSpeedPercent
MotorSpeedRPS
MotorSpeedRPM
MotorSpeedDPS
MotorSpeedDPM

class spikedev.motor.MotorSpeedPercent(percent)¶

Bases: spikedev.motor.MotorSpeed

Motor speed as a percentage of the motor’s maximum rated speed

Parameters: percent (int) – the speed percentage to store

Example:

import hub
from spikedev.motor import MotorSpeedPercent, SpikeMediumMotor

# run for 720 degrees at 40% of motor's maximum speed
mtr = SpikeMediumMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedPercent(40))

to_native_units(motor)¶

The native unit for a Spike motor is speed percentage so there is nothing to adjust here

Parameters: motor (Motor) – the motor to use for calculating the speed percentage
Returns: the speed percentage
Return type: int

class spikedev.motor.MotorSpeedRPS(rotations_per_second)¶

Bases: spikedev.motor.MotorSpeed

Motor speed in rotations-per-second

Parameters: rotations_per_second (int) – the rotations-per-second to store

Example:

import hub
from spikedev.motor import MotorSpeedRPS, SpikeMediumMotor

# run for 720 degrees at 1.5 rotations-per-second
mtr = SpikeMediumMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedRPS(1.5))

to_native_units(motor)¶

Return the speed percentage required to achieve the desired rotations-per-second

Parameters: motor (Motor) – the motor to use for calculating the speed percentage
Returns: the speed percentage required to achieve the desired rotations-per-second
Return type: int

class spikedev.motor.MotorSpeedRPM(rotations_per_minute)¶

Bases: spikedev.motor.MotorSpeed

Motor speed in rotations-per-minute

Parameters: rotations_per_minute (int) – the rotations-per-minute to store

Example:

import hub
from spikedev.motor import MotorSpeedRPM, SpikeMediumMotor

# run for 720 degrees at 20 rotations-per-minute
mtr = SpikeMediumMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedRPM(20))

to_native_units(motor)¶

Return the speed percentage required to achieve the desired rotations-per-minute

Parameters: motor (Motor) – the motor to use for calculating the speed percentage
Returns: the speed percentage required to achieve the desired rotations-per-minute
Return type: int

class spikedev.motor.MotorSpeedDPS(degrees_per_second)¶

Bases: spikedev.motor.MotorSpeed

Motor speed in degrees-per-second

Parameters: degrees_per_second (int) – the degrees-per-second to store

Example:

import hub
from spikedev.motor import MotorSpeedDPS, SpikeMediumMotor

# run for 720 degrees at 180 degrees-per-second
mtr = SpikeMediumMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedDPS(180))

to_native_units(motor)¶

Return the speed percentage required to achieve the desired degrees-per-second

Parameters: motor (Motor) – the motor to use for calculating the speed percentage
Returns: the speed percentage required to achieve the desired degrees-per-second
Return type: int

class spikedev.motor.MotorSpeedDPM(degrees_per_minute)¶

Bases: spikedev.motor.MotorSpeed

Motor speed in degrees-per-minute

Parameters: degrees_per_minute (int) – the degrees-per-minute to store

Example:

import hub
from spikedev.motor import MotorSpeedDPM, SpikeMediumMotor

# run for 720 degrees at 10000 degrees-per-minute
mtr = SpikeMediumMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedDPM(10000))

to_native_units(motor)¶

Return the speed percentage required to achieve the desired degrees-per-minute

Parameters: motor (Motor) – the motor to use for calculating the speed percentage
Returns: the speed percentage required to achieve the desired degrees-per-minute
Return type: int

class spikedev.motor.MotorStop¶

Bases: object

FLOAT = 0¶

BRAKE = 1¶

HOLD = 2¶

class spikedev.motor.MotorCallbackEvent¶

Bases: object

COMPLETED = 0¶

INTERRUPTED = 1¶

STALL = 2¶

class spikedev.motor.MotorPolarity¶

Bases: object

NORMAL = 0¶

REVERSED = 1¶

class spikedev.motor.MotorMode¶

Bases: object

POWER = 0¶

SPEED = 1¶

POS = 2¶

APOS = 3¶

LOAD = 4¶

CALIB = 5¶

exception spikedev.motor.InvalidMotorMode¶: Bases: ValueError

class spikedev.motor.Motor(port, polarity=0, desc=None)¶

Bases: object

A base class for SPIKE motors

Parameters

port (str) – must be A, B, C, D, E or F
polarity (MotorPolarity) – defaults to MotorPolarity.NORMAL
desc (str) – defaults to None

property position¶: Returns: int: the motor’s position encoder value

property is_stalled¶: Returns: bool: True if the motor has stalled

property is_running¶: Returns: bool: True if the motor is running

init_position()¶: Initialize the POS value from the APOS value

stop(stop_action=1)¶

stops the motor

Parameters: stop_action (MotorStop) – defaults to MotorStop.BRAKE

run_at_speed(speed, **kwargs)¶

Run the motor at speed. The motor will run until you call stop()

Parameters

speed (MotorSpeed) – the speed of the motor
**kwargs – optional kwargs that will pass all the way down to the LEGO hub.port.X.motor API call

run_for_degrees(degrees, speed, stop=1, block=True, **kwargs)¶

Run the motor at speed for degrees

Parameters

degrees (int) – the number of degrees to move the motor
speed (MotorSpeed) – the speed of the motor
stop (MotorStop) – how to stop the motors, defaults to MotorStop.BRAKE
block (bool) – if True this function will not return until the motors have finished moving
**kwargs – optional kwargs that will pass all the way down to the LEGO hub.port.X.motor API call

run_to_position(position, speed, direction='shortest', stop=1, block=True, **kwargs)¶

Run the motor at speed to the desired position

Parameters

position (int) – the target position for the left motor
speed (MotorSpeed) – the speed of the motor
direction (str) – one of clockwise, counterclockwise or shortest
stop (MotorStop) – how to stop the motors, defaults to MotorStop.BRAKE
block (bool) – if True this function will not return until the motors have finished moving
**kwargs – optional kwargs that will pass all the way down to the LEGO hub.port.X.motor API call

run_for_time(msec, speed, stop=1, block=True, **kwargs)¶

Run the motor at speed for msec

Parameters

msec (int) – the number of milliseconds to run the motor
speed (MotorSpeed) – the speed of the motor
stop (MotorStop) – how to stop the motors, defaults to MotorStop.BRAKE
block (bool) – if True this function will not return until the motors have finished moving
**kwargs – optional kwargs that will pass all the way down to the LEGO hub.port.X.motor API call

class spikedev.motor.SpikeMediumMotor(port, polarity=0, desc=None)¶

Bases: spikedev.motor.Motor

part number 54696
comes in set 45678-1

Example:

import hub
from spikedev.motor import MotorSpeedPercent, SpikeMediumMotor

# run for 720 degrees at 40% of motor's maximum speed
mtr = SpikeMediumMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedPercent(40))

MAX_RPM = 135¶

MAX_RPS = 2.25¶

MAX_DPM = 48600¶

MAX_DPS = 810¶

class spikedev.motor.SpikeLargeMotor(port, polarity=0, desc=None)¶

Bases: spikedev.motor.Motor

part number 54675
comes in set 45678-1

Example:

import hub
from spikedev.motor import MotorSpeedPercent, SpikeLargeMotor

# run for 720 degrees at 40% of motor's maximum speed
mtr = SpikeLargeMotor(hub.port.E)
mtr.run_for_degrees(720, MotorSpeedPercent(40))

MAX_RPM = 175¶

MAX_RPS = 2.916666¶

MAX_DPM = 63000¶

MAX_DPS = 1050¶