sensors¶

class AbsoluteRotaryEncoder(target: RotatingObject)

Bases: SensorBase

AbsoluteRotaryEncoder object.

Attributes¶

targetRotatingObject: Target rotating object whose angular position is probed by the sensor.

Methods¶

get_value(): It gets the angular position of the target rotating object.

get_value(unit: str | None = None) → AngularPosition | float | int

It gets the angular position of the target rotating object.

If a unit is set, then it converts the angular position to that unit and returns only the numerical value as float or integer.

Parameters¶

unitstr, optional: The unit to which convert the target angular position. If specified, it converts the angular position and returns only the numerical value as float or integer, otherwise it returns an AngularPosition. Default is None, so it returns an AngularPosition.

Returns¶

AngularPosition or float or int: Angular position of the target rotating object.

Raises

TypeError: If unit is not a str.

property target: RotatingObject

Target rotating object whose angular position is probed by the sensor.

Returns¶

RotatingObject: Target rotating object whose angular position is probed by the sensor.

Raises

TypeError: If target is not an instance of RotatingObject.

class Amperometer(target: MotorBase)

Bases: SensorBase

Amperometer object.

Attributes¶

targetMotorBase: Target motor object whose electric current is probed by the sensor.

Methods¶

get_value(): It gets the electric current of the target motor object.

get_value(unit: str | None = None) → Current | float | int

It gets the electric current of the target motor object.

If a unit is set, then it converts the electric current to that unit and returns only the numerical value as float or integer.

Parameters¶

unitstr, optional: The unit to which convert the target electric current. If specified, it converts the electric current and returns only the numerical value as float or integer, otherwise it returns a Current. Default is None, so it returns a Current.

Returns¶

Current or float`or :py:class:`int: Electric Current of the target motor object.

Raises

TypeError: If unit is not a str.

property target: MotorBase

Target motor object whose electric current is probed by the sensor.

Returns¶

MotorBase: Target motor object whose electric current is probed by the sensor.

Raises

TypeError: If target is not an instance of MotorBase.

class SensorBase

Bases: ABC

SensorBase object.

Abstract base class for creating sensor objects.

Attributes¶

targetRotatingObject: Target rotating object whose angular speed is probed by the sensor.

Methods¶

get_value(): It gets the angular speed of the target rotating object.

get_value(unit: str | None = None) → AngularSpeed | float | int

It gets the angular speed of the target rotating object.

If a unit is set, then it converts the angular speed to that unit and returns only the numerical value as float or integer.

Parameters¶

unitstr, optional: The unit to which convert the target angular speed. If specified, it converts the angular speed and returns only the numerical value as float or integer, otherwise it returns an AngularSpeed. Default is None, so it returns an AngularSpeed.

Returns¶

AngularSpeed or float or int: Angular speed of the target rotating object.

Raises

TypeError: If unit is not a str.

property target: RotatingObject

Target rotating object whose angular speed is probed by the sensor.

Returns¶

RotatingObject: Target rotating object whose angular speed is probed by the sensor.

Raises

TypeError: If target is not an instance of RotatingObject.

class Timer(start_time: Time, duration: TimeInterval)

Bases: object

Timer object.

Attributes¶

start_timeTime: Start time after which the timer is active.
durationTimeInterval: Time duration of the timer, starting from start_time

Methods¶

is_active(): It checks if the simulation current_time is greater than or equal to start_time but lower than or equal to the sum of current_time and duration.

property duration: TimeInterval

Time duration of the timer, starting from start_time.

Returns¶

TimeInterval: Time duration of the timer, starting from start_time

Raises

TypeError: If duration is not an instance of TimeInterval.

is_active(current_time: Time) → bool

It checks if the simulation current_time is greater than or equal to start_time but lower than or equal to the sum of current_time and duration.

Parameters¶

current_timeTime: Current time of the simulation, to be compared with start_time and duration.

Returns¶

bool: Whether current_time is greater than or equal to start_time but lower than or equal to the sum of start_time and duration.

Raises

TypeError: If current_time is not an instance of Time.

property start_time: Time

Start time after which the timer is active.

Returns¶

Time: Start time after which the timer is active.

Raises

TypeError: If start_time is not an instance of Time.