Motors module

class motors.Motor(pin: int, addr: int, slot: int)[source]

Bases: object

A class to represent a motor and offers an API to control it.

Additionnal documentation can be found here:
CMD_MOVE_AGL = 17
CMD_MOVE_SPD = 5
CMD_MOVE_SPD_TIME = 8
CMD_RESET = 7
END = 90
HEADER = [165, 1]
__init__(pin: int, addr: int, slot: int)[source]

Initialize I2C communication to motor.

Parameters

  • pin – I2C bus’ pin (2 or 4)

  • addr – slave’s address

  • slot – motor’s slot (1 or 2)

__recv_data(length: int) → bytearray

Receives data from I2C slave’s address

Parameters

receive (length number of bytes to) –

Returns

data received in bytes

Return type

buffer

async __send_data(data: list)

Creates a trame from the data and send it to motor via I2C.

Parameters

data – [slot, CMD, args]: data to send

static _lrc_calc(data) → int[source]

Calculate the Longitudinal Redondancy Check (LRC)

Returns

the value of LRC

Return type

lrc

static _to_bytes(fmt: str, data) → list[source]

Convert and pack data with a given format

The list of available formats can be found here: https://docs.python.org/3/library/struct.html

Parameters

  • fmt – string used to pack the data from a given format.

  • data – data to be converted to bytes.

Returns

a list of each element of data converted to bytes.

Return type

data_bytes

async move(angle: float, speed: float) → None[source]

Move motor of angle degrees at a speed given.

Parameters

  • speed – rotation speed (RPM) in [-200, +200]

  • angle – angle in degrees to rotate.

async run(speed: float, time=None) → None[source]

Controls motor rotation with speed given for an optional time.

Parameters

  • speed – rotation speed (RPM) in [-200, +200]

  • time – in seconds, runs for a specified time

scan() → list[source]

Scan slaves connected to the current I2C pin.

Returns

addresses of slaves that respond

Return type

list_of_slaves

property speed
async stop()[source]

Reset motor position to 0 and reinitialize data received.