3. MOVEMotor motors

3.1. Set up the buggy

class MOVEMotorMotors
Set up the buggy motors for use.
Use buggy = MOVEMotor.MOVEMotorMotors() to be able to use the motor methods on the buggy.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

3.2. Duration parameter

The Buggy methods that drive the motors have a duration parameter.
The duration parameter specifies how long the motor runs for.
The default duration is None. If the duration is None or is not specified the motor will run continuously until another command is sent to it.
e.g. using the duration parameter: buggy.forwards(10, duration=5000) the buggy stops after 5 sec.
e.g. not using the duration parameter: buggy.forwards(10) the buggy runs forwards continuously.

3.3. Independent motor control

The left and right motors can be controlled independently using the four methods below:
left_motor(speed=1, duration=None) runs the left motor.
right_motor(speed=1, duration=None) runs the right motor.
stop_left() stops the left motor.
stop_right() stops the right motor.

3.3.1. left_motor

left_motor(speed=1, duration=None)
Make the left motor run.
speed values are integers or floats (decimals) from -10 to 10.
Default speed is 1.
If speed < 0 the motor turns the wheel backwards.
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping.
left_motor() and left_motor(1) and left_motor(speed=1) all set the speed to 1.
left_motor(2, 1000) and left_motor(2, duration=1000) and left_motor(speed=2, duration=1000) all run the left motor at speed to 2 for 1 sec.
The code below, using left_motor(5), runs the left motor at about half speed.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.left_motor(5)
The code below, using left_motor(2, 5000), runs the left motor at speed 2 for 5 sec.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.left_motor(2, 5000)

3.3.2. right_motor

right_motor(speed=1, duration=None)
Make the right motor run.
speed values are integers or floats (decimals) from -10 to 10.
Default speed is 1.
If speed < 0 the motor turns the wheel backwards.
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping.
right_motor() and right_motor(1) and right_motor(speed=1) all set the speed to 1.
right_motor(2, 1000) and right_motor(2, duration=1000) and right_motor(speed=2, duration=1000) all run the right motor at speed 2 for 1sec.
The code below, using right_motor(speed=4, duration=3000), runs the right motor at speed 4 for 3 sec.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.right_motor(speed=4, duration=3000)
The code below, using right_motor(-10), runs the right motor backwards at full speed.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.right_motor(-10)

3.3.3. stop_left

stop_left()
Stop the left motor.
The code below runs the left motor continuously, but after 1 sec, it stops it.
The motor keeps running during the sleep.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.left_motor()
sleep(1000)
buggy.stop_left()

3.3.4. stop_right

stop_right()
Stop the right motor.
The code below runs the right motor at speed 4, then after 2 sec, stops it.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.right_motor(4)
sleep(2000)
buggy.stop_right()

3.4. Stop both motors

stop()
Stop both motors.
The code below runs the left motor at speed 5 and the right motor at speed 2, then after 1500ms stops them both.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.left_motor(5)
buggy.right_motor(2)
sleep(1500)
buggy.stop()

Tasks

  1. Write code to drive the left motor at speed 2 for 1 second, stop it, run the right motor at speed 2 for 1 sec then stop it.

  2. Write code to drive the right motor at speed 3 while the left motor runs at speed 2 for 3 sec then stop it.

  3. Write code to drive the left motor at speed 3 while the right motor runs at speed 2 for 3 sec then stop it.

  4. Write code that drives the left side faster than the right side then the right side faster the left side so that it zig zags for 5 sec then stop it.

  5. Write code so that the buggy repetitively zig zags forwards for 5 zigs and zags then backwards for 5 zigs and zags.

  6. Modify the zig zag code so that it uses variables for the 2 motor speeds, the number of zig zags forwards and backward, and the time for each zig and zag.

3.5. Straight line control

The left and right motors can be run so that the buggy moves forwards or backwards in a straight line:
forwards(speed=1, duration=None, decrease_left=0, decrease_right=0)
backwards(speed=1, duration=None, decrease_left=0, decrease_right=0)
decrease_left is used to reduce the motor speed on the left side in case the buggy drifts to the right due to the left motor being slightly faster than the right.
decrease_right is used to reduce the motor speed on the right side in case the buggy drifts to the left due to the right motor being slightly faster than the left.
Any decrease_left and decrease_right values used to give a straight line are best found by experimentation.

3.5.1. forwards

forwards(speed=1, duration=None, decrease_left=0, decrease_right=0)
Drive the buggy forward.
speed values are integers or floats (decimals) from 0 to 10.
Default speed is 1.
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping.
decrease_left and decrease_right take numbers from 0 to 20. These are converted to a percentage of the maximum analog motor speed of 255 (speed setting 10) so they have similar effect at any speed.
decrease_left and decrease_right default values are 0.
forwards(10, None, 6) and forwards(10, None, 6, 0) and forwards(speed=10, decrease_left=6) all set the speed to 10 with the left wheel slowed by roughly 2% (6/255).
The code below, has an adjustment of 6 to the left motor.
This is roughly a 2% (6/255) decrease in speed.
It drives the buggy forwards at speed 10 for 5 secs.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.forwards(speed=10, duration=5000, decrease_left=6, decrease_right=0)

3.5.2. backwards

backwards(speed=1, duration=None, decrease_left=0, decrease_right=0)
Drive the buggy backwards.
speed values are integers or floats (decimals) from 0 to 10.
Default speed is 1.
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping.
decrease_left and decrease_right take numbers from 0 to 20. These are converted to a percentage of the maximum analog motor speed of 255 (speed setting 10) so they have similar effect at any speed.
decrease_left and decrease_right default values are 0.
backwards(10, None, 0, 3) and backwards(speed=10, decrease_right=3) both set the speed to 10 with the right wheel slowed by roughly 1% (3/255).
The code below, has an adjustment of 3 to the right motor.
This is roughly a 1% (3/255) decrease in speed.
The parameter names have been omitted in forwards(8, 4000, 0, 3); instead values are in their specified order.
It drives the buggy backwards at speed 8 for 4 secs.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.backwards(8, 4000, 0, 3)

Tasks

  1. Write code to drive the buggy forward, as close as possible to a straight line, by experimenting with the decrease_left and decrease_right values.

  2. Write code to drive the buggy forwards and backwards, as close as possible to a straight line, by experimenting with the decrease_left and decrease_right values.

3.6. Turning

The left and right motors are adjusted to turn the buggy with a given radius:
left(speed=1, radius=25, duration=None)
right(speed=1, radius=25, duration=None)
When turning left, the left wheel is slowed based on the radius value.
When turning right, the right wheel is slowed based on the radius value.
The turning radius is approximate only, and is automatically calculated using 8.5 cm as the distance between the 2 wheels.

3.6.1. left

left(speed=1, radius=25, duration=None)
Drive the buggy to the left.
speed values are integers or floats (decimals) from -10 to 10.
speed values above 0 drive the buggy forwards to the left.
speed values below 0 drive the buggy backwards to the left.
Default speed is 1.
radius values are 4 to 800 (in cm)
Default radius is 25 (in cm).
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping, until another command is sent to the motor.
left() and left(1, 25) and left(speed=1, radius=25) all set the speed to 1 with a left turn of radius 25cm.
left(2, 50, 1000) and left(2, radius=50, duration=1000) and left(speed=2, radius=50, duration=1000) all set the speed to 2 with a left turn of radius 50cm for 1sec.
The code below, left(speed=3, radius=20, duration=4000), drives the buggy forwards at speed 3 while it turns left in a circular path of approximate radius 20 cm for 4 secs.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.left(speed=3, radius=20, duration=4000)

Tasks

  1. Write code to drive the buggy to the left at speed 2 in small circles of 10 cm radius.

  2. Write code to drive the buggy to the left at speed 5 in medium circles of 50 cm radius.

  3. Write code to drive the buggy to the left at speed 8 in circles of 20, 40 and 60 cm radius for 5 seconds each. Use a for-loop and a list of the radii.

3.7. Spinning

Spin the buggy to the left or right at the chosen speed using:
spin_left(speed=1, duration=None)
spin_right(speed=1, duration=None)
When spining left, the left wheel goes backwards while the right wheel goes forward.
When spining right, the right wheel goes backwards while the left wheel goes forward.
spin_left(speed=1, duration=None)
Spin the buggy on the spot, to the left.
speed values are integers or floats (decimals) from 0 to 10.
Default speed is 1.
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping, until another command is sent to the motor.
spin_left() and spin_left(1) and spin_left(speed=1) all spin the buggy to the left at speed 1.
spin_left(3, 2000) and spin_left(3, duration=2000) and spin_left(speed=3, duration=2000) all spin the buggy to the left at speed 3 for 2 secs.
spin_right(speed=1, duration=None)
Spin the buggy on the spot, to the right.
speed values are integers or floats (decimals) from 0 to 10.
Default speed is 1.
duration values are integers above 0.
Default duration is None.
The motor will stop after a given duration in milliseconds.
If the duration is None, the motor runs without stopping, until another command is sent to the motor.
The code below, spin_right(2, 4000), spins the buggy to the right at speed 2 for 4 secs.
from microbit import *
import MOVEMotor


# setup buggy
buggy = MOVEMotor.MOVEMotorMotors()

buggy.spin_right(2, 4000)

Tasks

  1. Write code to spin the buggy to the left at speed 4 for 5 seconds.

  2. Write code to spin the buggy to the right at speed 6 for 3 seconds.

  3. Write code to spin the buggy to the left for 3 seconds then to right for 3 seconds at speed 6.

  4. Write code to drive the buggy in a polygonal path (many straight sides) by combining short drives forwards with short spins.