Working run_direct of the motor class

Author: sam

source/Main.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 from ev3dev2._platform.ev3 import INPUT_1, INPUT_4, INPUT_3, INPUT_2
-from ev3dev2.led import Led
 from ev3dev2.motor import MoveTank, OUTPUT_A, OUTPUT_D, SpeedPercent
 from ev3dev2.sensor.lego import ColorSensor
 from ev3dev2.sensor.lego import TouchSensor
@@ -72,7 +71,5 @@ def check():
 
 tank_drive = MoveTank(OUTPUT_A, OUTPUT_D)
 
-led = Led()
-
 drive()
 check()

source/ev3dev2/motor.py

@@ -515,6 +515,7 @@ def duty_cycle_sp(self):
     @duty_cycle_sp.setter
     def duty_cycle_sp(self, value):
         self._duty_cycle_sp = value
+        self.connector.set_duty_cycle(value)
 
 
     @property
@@ -618,7 +619,6 @@ def position_sp(self):
 
     @position_sp.setter
     def position_sp(self, value):
-
         self._position_sp = value
         self.connector.set_distance(value)
 
@@ -864,6 +864,12 @@ def run_direct(self):
 
         self.command = self.COMMAND_RUN_DIRECT
 
+        self.connector.set_stop_action(self.STOP_ACTION_BRAKE)
+        self.connector.stop()
+
+        run_time = self.connector.run_direct()
+        self.running_until = time.time() + run_time
+
 
     def stop(self):
         """

source/ev3dev2/simulator/connector/MotorConnector.py

@@ -15,6 +15,7 @@ class MotorConnector:
     def __init__(self, address: str):
         self.address = address
 
+        self.duty_cycle = None
         self.speed = None
         self.distance = None
         self.time = None
@@ -23,13 +24,14 @@ def __init__(self, address: str):
         self.command_creator = get_motor_command_creator()
 
 
-    def set_time(self, time: int):
+    def set_duty_cycle(self, duty_cycle: int):
         """
-        Set the time to run of the motor belonging to the given address.
-        :param time: in milliseconds.
+        Set the percentage of power of the motor belonging to the given address.
+        -100 being fully backwards and 100 fully forwards.
+        :param duty_cycle: in percentage.
         """
 
-        self.time = time
+        self.duty_cycle = duty_cycle
 
 
     def set_speed(self, speed: float):
@@ -50,6 +52,15 @@ def set_distance(self, distance: float):
         self.distance = distance
 
 
+    def set_time(self, time: int):
+        """
+        Set the time to run of the motor belonging to the given address.
+        :param time: in milliseconds.
+        """
+
+        self.time = time
+
+
     def set_stop_action(self, action: str):
         """
         Set the speed to run at of the motor belonging to the given address.
@@ -67,8 +78,8 @@ def run_forever(self) -> float:
         In the real world this would be infinity.
         """
 
-        distance = self.speed * FOREVER_MOCK_SECONDS
-        return self._run(self.speed, distance)
+        self.distance = self.speed * FOREVER_MOCK_SECONDS
+        return self._run()
 
 
     def run_to_rel_pos(self) -> float:
@@ -78,7 +89,7 @@ def run_to_rel_pos(self) -> float:
         the given run operation will take.
         """
 
-        return self._run(self.speed, self.distance)
+        return self._run()
 
 
     def run_timed(self) -> float:
@@ -88,24 +99,35 @@ def run_timed(self) -> float:
         the given run operation will take.
         """
 
-        distance = self.speed * (self.time / 1000)
-        return self._run(self.speed, distance)
+        self.distance = self.speed * (self.time / 1000)
+        return self._run()
 
 
-    def _run(self, speed: float, distance: float) -> float:
+    def run_direct(self) -> float:
+        """
+        Run the motor for at the given speed provided by the duty_cycle.
+        :return a floating point value representing the number of seconds
+        the given run operation will take.
+        """
+
+        self.speed = self.duty_cycle / 100 * 1050
+        self.distance = self.speed * FOREVER_MOCK_SECONDS
+
+        return self._run()
+
+
+    def _run(self) -> float:
         """
         Run the motor at a speed for a distance.
-        :param speed: in degrees per second.
-        :param distance: in degrees.
         :return a floating point value representing the number of seconds
         the given run operation will take.
         """
 
-        if speed == 0 or distance == 0:
+        if self.speed == 0 or self.distance == 0:
             return 0
 
-        return self.command_creator.create_drive_command(speed,
-                                                         distance,
+        return self.command_creator.create_drive_command(self.speed,
+                                                         self.distance,
                                                          self.stop_action,
                                                          self.address)