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Updating the content on motors-fix #179

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22 changes: 13 additions & 9 deletions content/api/motor-board.md
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,19 @@ my_motor_board = r.motor_boards["SRO-AAD-GBH"]
my_other_motor_board = r.motor_boards["SR08U6"]
```

{{% notice warning %}}
Please note, in the simulator you should try to access the motorboards using their serial number.
{{% /notice %}}

## Controlling the Motor Board

This board object has an array containing the motors connected to it,
which can be accessed as `motors[0]` and `motors[1]`. The Motor Board is
which can be accessed as `m0` and `m1`. The Motor Board is
labelled so you know which motor is which.

``` python
my_motor_board.motors[0]
my_motor_board.motors[1]
my_motor_board.m0
my_motor_board.m1
```

## Powering motors
Expand All @@ -50,17 +54,17 @@ the power with a fractional value between `-1` and `1` inclusive, where
other direction and `0` causes the motor to brake.

``` python
my_motor_board.motors[0].power = 1
my_motor_board.motors[1].power = -1
my_motor_board.m0.power = 1
my_motor_board.m1.power = -1
```

These values can also be read back:

``` python
my_motor_board.motors[0].power
my_motor_board.m0.power
>>> 1

my_motor_board.motors[1].power
my_motor_board.m1.power
>>> -1
```

Expand Down Expand Up @@ -98,7 +102,7 @@ quick as possible.
``` python
from sbot import BRAKE

my_motor_board.motors[0].power = BRAKE
my_motor_board.m0.power = BRAKE
```

#### `COAST`
Expand All @@ -109,5 +113,5 @@ continue moving under the momentum they had before.
``` python
from sbot import COAST

my_motor_board.motors[1].power = COAST
my_motor_board.m1.power = COAST
```