parameters – Parameters and Constants

Constant parameters/arguments for the Pybricks API.

class Port(value)

Port on the programmable brick or hub.

Input/Output ports:

A
B
C
D
E
F

EV3 Sensor ports:

S1
S2
S3
S4
class Direction(value)

Rotational direction for positive speed or angle values.

CLOCKWISE

A positive speed value should make the motor move clockwise.

COUNTERCLOCKWISE

A positive speed value should make the motor move counterclockwise.

positive_direction =

Positive speed:

Negative speed:

Direction.CLOCKWISE

clockwise

counterclockwise

Direction.COUNTERCLOCKWISE

counterclockwise

clockwise

In general, clockwise is defined by looking at the motor shaft, just like looking at a clock. Some motors have two shafts. If in doubt, refer to the diagram in the Motor class documentation.

class Stop(value)

Action after the motor stops: coast, brake, or hold.

COAST

Let the motor move freely.

BRAKE

Passively resist small external forces.

HOLD

Keep controlling the motor to hold it at the commanded angle. This is only available on motors with encoders.

The following table show how each stop type adds an extra level of resistance to motion. In these examples, m is a Motor and and d is a DriveBase. The examples also show how running at zero speed compares to these stop types.

Type
Friction
Back
EMF
Speed
kept at 0
Angle kept
at target
Examples

Coast

m.stop()
m.run_target(500, 90, Stop.COAST)

Brake

m.brake()
m.run_target(500, 90, Stop.BRAKE)
m.run(0)
d.drive(0, 0)

Hold

m.hold()
m.run_target(500, 90, Stop.HOLD)
d.straight(0)
d.straight(100)
class Color(h, s=100, v=100, name=None)

Light or surface color.

Saturated colors

RED = Color(0, 100, 100, 'RED')
_
ORANGE = Color(30, 100, 100, 'ORANGE')
_
YELLOW = Color(60, 100, 100, 'YELLOW')
_
GREEN = Color(120, 100, 100, 'GREEN')
_
CYAN = Color(180, 100, 100, 'CYAN')
_
BLUE = Color(240, 100, 100, 'BLUE')
_
VIOLET = Color(270, 100, 100, 'VIOLET')
_
MAGENTA = Color(300, 100, 100, 'MAGENTA')
_

Unsaturated colors

BLACK = Color(0, 0, 0, 'BLACK')
_
GRAY = Color(0, 0, 50, 'GRAY')
_
WHITE = Color(0, 0, 100, 'WHITE')
_
class Button(value)

Buttons on a brick or remote

LEFT_DOWN
LEFT_MINUS
DOWN
RIGHT_DOWN
RIGHT_MINUS
LEFT
CENTER
RIGHT
LEFT_UP
LEFT_PLUS
UP
BEACON
RIGHT_UP
RIGHT_PLUS
class Side(value)

Side of a hub or a sensor. These devices are mostly rectangular boxes with six sides:

TOP
BOTTOM
FRONT
BACK
LEFT
RIGHT

Screens or light matrices have only four sides. For those, TOP is treated the same as FRONT, and BOTTOM is treated the same as BACK. The diagrams below define the sides for relevant devices.

Prime Hub

_images/orientation_primehub_label.png

Inventor Hub

_images/orientation_inventorhub_label.png

Move Hub

_images/orientation_movehub_label.png

Technic Hub

_images/orientation_technichub_label.png

Tilt Sensor

_images/orientation_tiltsensor_label.png