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motors.py
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motors.py
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from kipr import motor_power, msleep, freeze, clear_motor_position_counter, get_motor_position_counter
from utilities import pc
def move_timed(motor_num, speed: int, time):
motor_power(motor_num, speed)
msleep(time)
freeze(motor_num)
def move_motor_till_stall(motor_num, speed):
clear_motor_position_counter(motor_num)
motor_power(motor_num, speed)
counter = 0
last_position = get_motor_position_counter(motor_num)
while counter < 4:
if last_position == get_motor_position_counter(motor_num):
counter += 1
else:
counter = 0
last_position = get_motor_position_counter(motor_num)
msleep(25)
motor_power(motor_num, 0)
def move_motor_to_position(motor_num, speed, position):
clear_motor_position_counter(motor_num)
motor_power(motor_num, speed)
msleep(1000)
while get_motor_position_counter(motor_num) > position + 200:
pass
motor_power(motor_num, pc(7, 6))
print("reversing the power")
while get_motor_position_counter(motor_num) > position:
pass
# motor_power(motor_num, 0)
print("bot stick in position")