diff --git a/docs/tutorials/basic-movement.md b/docs/tutorials/basic-movement.md index 25dbe326..f72317a5 100644 --- a/docs/tutorials/basic-movement.md +++ b/docs/tutorials/basic-movement.md @@ -17,28 +17,30 @@ from sbot import * r = Robot() while True: - r.motor_boards[0].m0.power = 0.5 - r.motor_boards[0].m1.power = 0.5 + r.motor_board.motors[0].power = 0.5 + r.motor_board.motors[1].power = 0.5 r.sleep(3) - r.motor_boards[0].m0.power = 0 - r.motor_boards[0].m1.power = 0 + r.motor_board.motors[0].power = 0 + r.motor_board.motors[1].power = 0 r.sleep(1.4) - r.motor_boards[0].m0.power = -0.5 - r.motor_boards[0].m1.power = -0.5 + r.motor_board.motors[0].power = -0.5 + r.motor_board.motors[1].power = -0.5 r.sleep(1) - r.motor_boards[0].m0.power = 0 - r.motor_boards[0].m1.power = 0 + r.motor_board.motors[0].power = 0 + r.motor_board.motors[1].power = 0 + r.sleep(4) ``` -You're familiar with the first few lines; in fact, the only lines you may not be familiar with are the `r.motor_boards...` lines. For a comprehensive reference to the `motor` object, see [`motor` API](../api/motor-board.md) page. +You're familiar with the first few lines; in fact, the only lines you may not be familiar with are the `r.motor_board...` lines. For a comprehensive reference to the `motor` object, see [`motor` API](../api/motor-board.md) page. + But, to summarise: -`r.motor_boards.m0.power = 0.5` sets the target power of the motor connected to output 0 on the first [motor board](../kit/motor-board.md) to half speed forwards (i.e. a duty-cycle of 0.5 forwards). As you would expect, then, `-0.5` will put the this motor into reverse at half power. -`r.motor_boards.m0.power = 0` will brake the motor and stop it. +`r.motor_board.motors[0].power = 0.5` sets the target power of the motor connected to output 0 on the first [motor board](../kit/motor-board.md) to half speed forwards (i.e. a duty-cycle of 50% forwards). As you would expect, then, `-0.5` will put this motor into reverse at half power. +`r.motor_board.motors[0].power = 0` will brake the motor and stop it. So, if you put the above code on your robot, you should be able to see a motor spin forwards, stop, spin backwards, stop, and then repeat... @@ -55,56 +57,56 @@ from sbot import * r = Robot() while True: - r.motor_boards[0].m0.power = 0.5 - r.motor_boards[0].m1.power = 0.5 + r.motor_board.motors[0].power = 0.5 + r.motor_board.motors[1].power = 0.5 r.sleep(3) - r.motor_boards[0].m0.power = 0 - r.motor_boards[0].m1.power = 0 + r.motor_board.motors[0].power = 0 + r.motor_board.motors[1].power = 0 r.sleep(1.4) - r.motor_boards[0].m0.power = -0.5 - r.motor_boards[0].m1.power = -0.5 + r.motor_board.motors[0].power = -0.5 + r.motor_board.motors[1].power = -0.5 r.sleep(1) - r.motor_boards[0].m0.power = 0 - r.motor_boards[0].m1.power = 0 + r.motor_board.motors[0].power = 0 + r.motor_board.motors[1].power = 0 r.sleep(4) # ^^ code from before ^^ # power up to 0.7 (from 0.1) for pwr in range(10, 80, 10): - r.motor_boards[0].m0.power = pwr / 100.0 - r.motor_boards[0].m1.power = pwr / 100.0 + r.motor_board.motors[0].power = pwr / 100 + r.motor_board.motors[1].power = pwr / 100 r.sleep(0.1) # power down from 0.7 (to 0.1) for pwr in range(70, 0, -10): - r.motor_boards[0].m0.power = pwr / 100.0 - r.motor_boards[0].m1.power = pwr / 100.0 + r.motor_board.motors[0].power = pwr / 100 + r.motor_board.motors[1].power = pwr / 100 r.sleep(0.1) # set power to 0 for a second - r.motor_boards[0].m0.power = 0 - r.motor_boards[0].m1.power = 0 + r.motor_board.motors[0].power = 0 + r.motor_board.motors[1].power = 0 r.sleep(1) # power up to -0.7 (from -0.1) for pwr in range(-10, -80, -10): - r.motor_boards[0].m0.power = pwr / 100.0 - r.motor_boards[0].m1.power = pwr / 100.0 + r.motor_board.motors[0].power = pwr / 100 + r.motor_board.motors[1].power = pwr / 100 r.sleep(0.1) # power down to -0.1 (from -0.7) for pwr in range(-70, 0, 10): - r.motor_boards[0].m0.power = pwr / 100.0 - r.motor_boards[0].m1.power = pwr / 100.0 + r.motor_board.motors[0].power = pwr / 100 + r.motor_board.motors[1].power = pwr / 100 r.sleep(0.1) # set power to 0 for a second - r.motor_boards[0].m0.power = 0 - r.motor_boards[0].m1.power = 0 + r.motor_board.motors[0].power = 0 + r.motor_board.motors[1].power = 0 r.sleep(1) ```