anki_vector.motors

Control the motors of Vector.

Classes

MotorComponent(robot)

Controls the low-level motor functions.
class anki_vector.motors.MotorComponent(robot)

Controls the low-level motor functions.

set_head_motor(speed)

Tell Vector’s head motor to move with a certain speed.

Positive speed for up, negative speed for down. Measured in radians per second.

To unlock the head track, call set_head_motor(0).

import anki_vector

with anki_vector.Robot() as robot:
    robot.motors.set_head_motor(-5.0)
Parameters

speed (float) – Motor speed for Vector’s head, measured in radians per second.

set_lift_motor(speed)

Tell Vector’s lift motor to move with a certain speed.

Positive speed for up, negative speed for down. Measured in radians per second.

To unlock the lift track, call set_lift_motor(0).

import anki_vector
import time

with anki_vector.Robot() as robot:
    robot.motors.set_lift_motor(-5.0)
    time.sleep(3.0)
    robot.motors.set_lift_motor(5.0)
    time.sleep(3.0)
Parameters

speed (float) – Motor speed for Vector’s lift, measured in radians per second.

set_wheel_motors(left_wheel_speed, right_wheel_speed, left_wheel_accel=0.0, right_wheel_accel=0.0)

Tell Vector to move his wheels / treads at a given speed.

The wheels will continue to move at that speed until commanded to drive at a new speed, or if stop_all_motors() is called.

To unlock the wheel track, call set_wheel_motors(0, 0).

import anki_vector
import time

with anki_vector.Robot() as robot:
    robot.motors.set_wheel_motors(25, 50)
    time.sleep(3.0)
Parameters

  • left_wheel_speed (float) – Speed of the left tread (in millimeters per second).

  • right_wheel_speed (float) – Speed of the right tread (in millimeters per second).

  • left_wheel_accel (float) – Acceleration of left tread (in millimeters per second squared) None value defaults this to the same as l_wheel_speed.

  • right_wheel_accel (float) – Acceleration of right tread (in millimeters per second squared) None value defaults this to the same as r_wheel_speed.

stop_all_motors()

Tell Vector to stop all motors.

import anki_vector
import time

with anki_vector.Robot() as robot:
    robot.motors.set_wheel_motors(25, 50)

    # wait a short time to observe the motors moving
    time.sleep(0.5)

    robot.motors.stop_all_motors()