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Motors

raspbot.actuators.motors.Motors

Controls the four DC drive motors of the Raspbot V2 via I2C register 0x01.

Motor layout (viewed from above):

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L1 (front-left)   R1 (front-right)
L2 (rear-left)    R2 (rear-right)

Access via Robot.motors.

Enumerations

MotorId

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class MotorId(IntEnum):
    L1 = 0  # Left front
    L2 = 1  # Left rear
    R1 = 2  # Right front
    R2 = 3  # Right rear

MotorDirection

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class MotorDirection(IntEnum):
    FORWARD = 0
    REVERSE = 1

Methods

forward(speed=150)

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def forward(self, speed: int = 150) -> None

Drive all four motors forward at speed.

Parameter Type Default Description
speed int 150 PWM duty-cycle 0-255

backward(speed=150)

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def backward(self, speed: int = 150) -> None

Drive all four motors backward at speed.

turn_left(speed=150)

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def turn_left(self, speed: int = 150) -> None

Spin left in place: right motors forward, left motors reverse.

turn_right(speed=150)

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def turn_right(self, speed: int = 150) -> None

Spin right in place: left motors forward, right motors reverse.

stop()

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def stop(self) -> None

Stop all motors immediately (speed = 0).

set(motor_id, direction, speed)

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def set(
    self,
    motor_id: MotorId | int,
    direction: MotorDirection | int,
    speed: int,
) -> None

Set direction and speed for a single motor.

Parameter Type Description
motor_id MotorId or int Which motor (0-3)
direction MotorDirection or int 0 = forward, 1 = reverse
speed int 0-255 (clamped automatically)

drive(motor_id, speed)

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def drive(self, motor_id: MotorId | int, speed: int) -> None

Drive a single motor with a signed speed value. Negative speed drives in reverse.

Parameter Type Description
motor_id MotorId or int Which motor
speed int -255 to +255

Examples

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from raspbot import Robot
from raspbot.types import MotorId, MotorDirection

with Robot() as bot:
    # High-level helpers
    bot.motors.forward(speed=200)
    bot.motors.stop()

    # Single motor control
    bot.motors.set(MotorId.L1, MotorDirection.FORWARD, 180)

    # Signed speed
    bot.motors.drive(MotorId.R1, -150)   # reverse at speed 150

See also