Motor & Robot

docs/api.rst

@@ -56,6 +56,21 @@ Speaker
     :inherited-members:
     :members: 
 
+Motor
+-----
+
+.. autoclass:: Motor
+    :show-inheritance:
+    :inherited-members:
+    :members: 
+
+Robot
+-----
+
+.. autoclass:: Robot
+    :show-inheritance:
+    :inherited-members:
+    :members: 
 
 DigitalOutputDevice
 -------------------
@@ -103,6 +118,14 @@ TemperatureSensor
     :inherited-members:
     :members: 
 
+DistanceSensor
+--------------
+
+.. autoclass:: DistanceSensor
+    :show-inheritance:
+    :inherited-members:
+    :members: 
+
 DigitalInputDevice
 ------------------
 

docs/examples/motor_move.py

@@ -0,0 +1,8 @@
+from picozero import Motor
+from time import sleep
+
+motor = Motor(14, 15)
+
+motor.move()
+sleep(1)
+motor.stop()

docs/examples/robot_rover_forward.py

@@ -0,0 +1,9 @@
+from picozero import Robot
+from time import sleep
+
+robot_rover = Robot(left=(14,15), right=(12,13))
+
+# move forward
+robot_rover.forward()
+sleep(1)
+robot_rover.stop()

docs/examples/robot_rover_square.py

@@ -0,0 +1,10 @@
+from picozero import Robot
+from time import sleep
+
+robot_rover = Robot(left=(14,15), right=(12,13))
+
+for i in range(4):
+    # move forward for 1 second
+    robot_rover.forward(t=1, wait=True)
+    # rotate to the left for 1 second
+    robot_rover.left(t=1, wait=True)

docs/examples/ultrasonic_distance_sensor.py

@@ -1,8 +1,8 @@
 from picozero import DistanceSensor
 from time import sleep
 
-ds = DistanceSensor(echo=5, trigger=4)
+ds = DistanceSensor(echo=4, trigger=5)
 
 while True:
     print(ds.distance)
-    sleep(0.1)
+    sleep(0.1)

docs/recipes.rst

@@ -154,7 +154,6 @@ Print the value, voltage and percent reported by a potentiometer:
 
     In the Thonny Python editor, choose View->Plotter to plot the output of :meth:`print`. 
 
-
 Buzzer
 ------
 
@@ -169,6 +168,29 @@ Control a passive buzzer or speaker that can play different tones or frequencies
 
 .. literalinclude:: examples/speaker.py
 
+Motor
+-----
+
+Move a motor which is connected via 2 pins (forward / backward) and a motor controller board
+
+.. literalinclude:: examples/motor_move.py
+
+Robot rover
+-------------
+
+Make a simple 2 wheeled robot rover.
+
+.. image:: images/robot_bb.svg
+    :alt: A diagram of the Raspberry Pi Pico connected to 2 motors via a motor controller board powered by a battery pack
+
+Move the rover forward for 1 second and stop.
+
+.. literalinclude:: examples/robot_rover_forward.py
+
+Move the rover *roughly* in a square:
+
+.. literalinclude:: examples/robot_rover_square.py
+
 Play a tune
 ~~~~~~~~~~~
 
@@ -193,6 +215,9 @@ Check the internal temperature of the Raspberry Pi Pico in degrees Celcius:
 Ultrasonic Distance Sensor
 --------------------------
 
-Get the distance in metres from an ultrasonic distance sensor (HC-SR04):
+Get the distance in metres from an ultrasonic distance sensor (HC-SR04).
+
+.. image:: images/distance_sensor_bb.svg
+    :alt: A diagram of the Raspberry Pi Pico connected to HC-SR04 distance sensor
 
 .. literalinclude:: examples/ultrasonic_distance_sensor.py

examples/motor.py

@@ -0,0 +1,14 @@
+from picozero import Motor
+from time import sleep
+
+m = Motor(12, 13)
+
+# turn the motor for 1 second
+print("the motor is turning")
+m.move()
+sleep(1)
+m.stop()
+
+# or alternatively turn it at half speed for 2 seconds
+m.move(speed=0.5, t=2)
+print("the motor will turn at half speed and stop after 2 seconds")

picozero/__init__.py

@@ -19,6 +19,8 @@
     Speaker,
 
     RGBLED,
+    Motor,
+    Robot,
 
     DigitalInputDevice,
     Switch,