Motors

The Motors class controls Eliobot's two motors and provides methods of moving at variable speed or over a precise distance.

Initialization

import board
import pwmio
import analogio
from elio import Motors

AIN1 = pwmio.PWMOut(board.IO36)
AIN2 = pwmio.PWMOut(board.IO38)
BIN1 = pwmio.PWMOut(board.IO35)
BIN2 = pwmio.PWMOut(board.IO37)
vBatt_pin = analogio.AnalogIn(board.BATTERY)

motors = Motors(AIN1, AIN2, BIN1, BIN2, vBatt_pin)

Paramètre	Pin	Description
AIN1	IO36	Moteur droit, sens 1
AIN2	IO38	Moteur droit, sens 2
BIN1	IO35	Moteur gauche, sens 1
BIN2	IO37	Moteur gauche, sens 2
vBatt_pin	BATTERY	Lecture de la tension batterie

Continuous movements

These methods start the movement until a stop is called.

move_forward(speed=100)

Go straight ahead.

motors.move_forward(speed=80)

move_backward(speed=100)

Go straight back.

motors.move_backward(speed=80)

turn_left(speed=100)

Turn left (left wheel back, right wheel forward).

motors.turn_left(speed=60)

turn_right(speed=100)

Turn right (right wheel back, left wheel forward).

motors.turn_right(speed=60)

turn_in_place(speed=30, direction="left")

Turn in place (the two wheels opposite each other).

motors.turn_in_place(speed=30, direction="left")
motors.turn_in_place(speed=30, direction="right")

spin_left_wheel_forward(speed=100) / spin_left_wheel_backward(speed=100)

Turns only the left wheel forward or backward.

motors.spin_left_wheel_forward(speed=50)
motors.spin_left_wheel_backward(speed=50)

spin_right_wheel_forward(speed=100) / spin_right_wheel_backward(speed=100)

Turns only the right wheel forward or backward.

motors.spin_right_wheel_forward(speed=50)
motors.spin_right_wheel_backward(speed=50)

Stops

motor_stop()

Immediate stop (active brake).

motors.motor_stop()

slow_stop()

Progressive stop (freewheels).

motors.slow_stop()

Distance/angle movements

These methods take the battery voltage into account to estimate the duration required.

move_one_step(direction, distance=20)

Move forward or backward a given distance in centimeters.

motors.move_one_step("forward", distance=20)
motors.move_one_step("backward", distance=10)

turn_one_step(direction, angle=90)

Rotates a given angle in degrees.

motors.turn_one_step("left", angle=90)
motors.turn_one_step("right", angle=45)

Battery

get_battery_voltage()

Returns the current battery voltage in volts.

voltage = motors.get_battery_voltage()
print(f"Batterie : {voltage:.2f} V")

Colors (utility)

rgb_color_wheel(wheel_pos) (static method)

Generates an RGB color from a position (0–255) on the color wheel.

r, g, b = Motors.rgb_color_wheel(128)

Physical parameters

Constante	Valeur	Description
SPACE_BETWEEN_WHEELS	77.5 mm	Écart entre les deux roues
WHEEL_DIAMETER	33.5 mm	Diamètre d'une roue
DISTANCE_PER_REVOLUTION	~10.52 cm	Distance par tour de roue

Speed ​​Notes

• Speed ​​is expressed as a percentage: 0 to 100.
• Below 15, the library automatically adds 15 to ensure that the motors start.
• The value is converted to PWM (0–65535) internally.