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merged 2 commits into from
Jul 16, 2023
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Update basic movement #210

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35afc9f
Update basic movement
RealOrangeOne Jul 15, 2023
f205681
Use percentage
RealOrangeOne Jul 16, 2023
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64 changes: 33 additions & 31 deletions docs/tutorials/basic-movement.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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...

Expand All @@ -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)
```

Expand Down