Motor-shield

Python Library for SB Motor-shield

SB Components' Motor-Shield python library v.2.

Pi Motor-Shield Library Reference:

Motor

Class describing a set of Motor terminals on the Motor-Shield.

Constructor Arguments

motor

The label of the relevant motor terminal (i.e. "MOTOR1", "MOTOR2", "MOTOR3", "MOTOR4")

config

An integer (1 or 2) defining which pin should be considered "forward" and which "reverse"

Methods

test(state)

Sets the Motor test mode on or off (takes a boolean argument). When on issuing a command to the motor terminal will illuminate the motor's related LED arrow rather than power the motor.

forward()

Starts the motor turning in its configured "forward" direction.

reverse()

Starts the motor turning in its configured "reverse" direction.

stop

Stops power to the motor

Examples

m1 = Motor("MOTOR1",1)
m1.forward()

LinkedMotors

This class describes a set of Motor objects and is used to group related motors together.

Constructor Arguments

*motors

List of Motor objects

Methods

forward()

Starts the linked motors turning in their configured "forward" direction.

reverse()

Starts the linked motors turning in their configured "forward" direction.

stop()

Stops power to the linked motors

Example

m1 = Motor("MOTOR1",1)
m2 = Motor("MOTOR2",2)
mtrs = LinkedMotors(m,m2)
mtrs.forward()

Sensor

This class describes the sensor connectors on the Motor-Shield

Constructor arguments

sensortype

string identifying which sensor is being configured. i.e. "IR1", "IR2", "ULTRASONIC"

boundary

An integer specifying the minimum distance (in centimeters) at which the sensor will return a Triggered response of True. This is only meaningful for the ultrasonic sensor.

Methods

trigger()

Executes the relevant routine that activates and takes a reading from the specified sensor. If the specified "boundary" has been breached the Sensor's Triggered attribute gets set to True.

Example

us = Sensor("ULTRASONIC",10)
us.trigger()
if us.Triggered:
    print("Boundary breached")

ir1 = Sensor("IR1",0)
ir1.trigger()
if ir1.Triggered:
    print("IR triggered")

Arrow

Class defining the arrow LEDs mounted on the Motor-Shield.

Constructor Arguments

which

An integer (1 - 4) representing an LED arrow. The arrow number if arbitrary starting with: 1 = Arrow closest to the Motorshield's power pins and running clockwise round the board ... 4 = Arrow closest to the motor pins.

Methods

on()

Turns on the LED arrow

off()

Turns off the LED arrow

Example

a1 = Arrow(1)
a1.on()