Module Basex

Example

from m5stack import *
from m5ui import *
from uiflow import *
import module

import time

setScreenColor(0x222222)

mode = None

base_x = module.get(module.BASE_X)

while True:
  print((str('') + str((base_x.get_encoder(1)))))
  base_x.set_mode(1, base_x.NORMAL_MODE)
  base_x.set_motor_speed(1, 100)
  wait(1)
  print((str('') + str((base_x.get_encoder(1)))))
  base_x.set_mode(1, base_x.POSITION_MODE)
  base_x.set_position_pid_max_speed(1, 50)
  base_x.set_position_point(1, 1000)
  wait(1)
  print((str('') + str((base_x.get_encoder(1)))))
  base_x.set_mode(1, base_x.SPEED_MODE)
  base_x.set_speed_point(1, 100)
  wait(1)
  wait_ms(2)

API

base_x.get_encoder(1)

• Retrieves the encoder value of the motor, returning the current reading of the encoder.

base_x.get_speed_20ms(1)

• Retrieves the motor speed over a 20ms interval, returning the speed of the motor during this time period.

base_x.run_ahead(1, 0)

• Sets the motor to run ahead by a specified distance or angle. The parameter value is an integer, indicating the number of steps or distance the motor will run ahead.

base_x.set_encoder(1, 0)

• Sets the motor's encoder value to the specified integer value, typically used to reset the current encoder value.

base_x.set_mode(1, base_x.NORMAL_MODE)

• Sets the motor to normal mode, operating the motor in its regular running mode.

base_x.set_motor_speed(1, 0)

• Sets the motor's speed. The input value of 0 sets the motor speed to 0, effectively stopping the motor.

base_x.set_position_pid_max_speed(1, 0)

• Sets the maximum speed for the motor in position PID control. The input value of 0 limits the maximum speed to 0 in position control.

base_x.set_position_point(1, 0)

• Sets the position point of the motor. The input value of 0 sets the target position of the motor to 0.

base_x.set_servo_angle(1, 0)

• Sets the servo angle. The input value of 0 sets the servo angle to 0 degrees.

base_x.set_servo_pulse(1, 0)

• Sets the pulse width of the servo. The input value of 0 sets the pulse width to 0.

base_x.set_speed_point(1, 0)

• Sets the motor's target speed point. The input value of 0 sets the target speed to 0, meaning the motor will not run or will stop running.