Some small improvements to the MotorConnector

Author: sam

source/ev3dev2/motor.py

@@ -407,7 +407,7 @@ def __init__(self, address=None, name_pattern=SYSTEM_DEVICE_NAME_CONVENTION, nam
         self.max_dps = self.max_rps * 360
         self.max_dpm = self.max_rpm * 360
 
-        self.connector = MotorConnector(self.address)
+        self.connector = MotorConnector(self.address, self.max_speed)
         self.running_until = time.time()
 
 
@@ -864,7 +864,7 @@ def run_direct(self):
 
         self.command = self.COMMAND_RUN_DIRECT
 
-        self.connector.set_stop_action(self.STOP_ACTION_BRAKE)
+        self.connector.set_stop_action(self.STOP_ACTION_HOLD)
         self.connector.stop()
 
         run_time = self.connector.run_direct()

source/ev3dev2/simulator/connector/MotorCommandCreator.py

@@ -28,7 +28,7 @@ def create_drive_command(self, speed: float, distance: float, stop_action: str,
         Create the command required to rotate the motor at the address for a distance at a speed.
         :param speed: in degrees per second.
         :param distance: in degrees.
-        :param stop_action: of the motor, this can be 'hold' or 'coast'.
+        :param stop_action: of the motor, this can be 'hold', 'break' or 'coast'.
         :param address: of the motor to create a command for.
         """
 
@@ -49,7 +49,7 @@ def create_stop_command(self, speed: float, stop_action: str, address: str) -> f
         """
         Create the command required to stop the motor at the address.
         :param speed: in degrees per second the motor is traveling when stopped.
-        :param stop_action: of the motor, this can be 'hold' or 'coast'.
+        :param stop_action: of the motor, this can be 'hold', 'break' or 'coast'.
         :param address: of the motor to create a stop command for.
         """
 

source/ev3dev2/simulator/connector/MotorConnector.py

@@ -12,8 +12,9 @@ class MotorConnector:
     """
 
 
-    def __init__(self, address: str):
+    def __init__(self, address: str, max_speed: int):
         self.address = address
+        self.max_speed = max_speed
 
         self.duty_cycle = None
         self.speed = None
@@ -110,7 +111,7 @@ def run_direct(self) -> float:
         the given run operation will take.
         """
 
-        self.speed = self.duty_cycle / 100 * 1050
+        self.speed = self.duty_cycle / 100 * self.max_speed
         self.distance = self.speed * FOREVER_MOCK_SECONDS
 
         return self._run()
@@ -140,7 +141,7 @@ def stop(self) -> float:
         """
 
         speed = self.speed if self.speed else 0
-        stop_action = self.stop_action if self.stop_action else 0
+        stop_action = self.stop_action if self.stop_action else 'hold'
         distance = self.distance if self.distance else 0
 
         if speed == 0: