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<div class="section" id="module-pybricks.parameters">
<span id="parameters-parameters-and-constants"></span><h1><a class="reference internal" href="#module-pybricks.parameters" title="pybricks.parameters"><code class="xref py py-mod docutils literal notranslate"><span class="pre">parameters</span></code></a> – Parameters and Constants<a class="headerlink" href="#module-pybricks.parameters" title="Permalink to this headline">¶</a></h1>
<p>Constant parameters/arguments for the Pybricks API.</p>
<dl class="class">
<dt id="pybricks.parameters.Port">
<em class="property">class </em><code class="descname">Port</code><a class="headerlink" href="#pybricks.parameters.Port" title="Permalink to this definition">¶</a></dt>
<dd><p>Port on the programmable brick or hub.</p>
<blockquote>
<div><p>Motor ports:</p>
<blockquote>
<div><dl class="data">
<dt id="pybricks.parameters.Port.A">
<code class="descname">A</code><a class="headerlink" href="#pybricks.parameters.Port.A" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Port.B">
<code class="descname">B</code><a class="headerlink" href="#pybricks.parameters.Port.B" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Port.C">
<code class="descname">C</code><a class="headerlink" href="#pybricks.parameters.Port.C" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Port.D">
<code class="descname">D</code><a class="headerlink" href="#pybricks.parameters.Port.D" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
</div></blockquote>
<p>Sensor ports:</p>
<blockquote>
<div><dl class="data">
<dt id="pybricks.parameters.Port.S1">
<code class="descname">S1</code><a class="headerlink" href="#pybricks.parameters.Port.S1" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Port.S2">
<code class="descname">S2</code><a class="headerlink" href="#pybricks.parameters.Port.S2" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Port.S3">
<code class="descname">S3</code><a class="headerlink" href="#pybricks.parameters.Port.S3" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Port.S4">
<code class="descname">S4</code><a class="headerlink" href="#pybricks.parameters.Port.S4" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
</div></blockquote>
</div></blockquote>
</dd></dl>
<dl class="class">
<dt id="pybricks.parameters.Direction">
<em class="property">class </em><code class="descname">Direction</code><a class="headerlink" href="#pybricks.parameters.Direction" title="Permalink to this definition">¶</a></dt>
<dd><p>Rotational direction for positive speed or angle values.</p>
<dl class="data">
<dt id="pybricks.parameters.Direction.CLOCKWISE">
<code class="descname">CLOCKWISE</code><a class="headerlink" href="#pybricks.parameters.Direction.CLOCKWISE" title="Permalink to this definition">¶</a></dt>
<dd><p>A positive speed value should make the motor move clockwise.</p>
</dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Direction.COUNTERCLOCKWISE">
<code class="descname">COUNTERCLOCKWISE</code><a class="headerlink" href="#pybricks.parameters.Direction.COUNTERCLOCKWISE" title="Permalink to this definition">¶</a></dt>
<dd><p>A positive speed value should make the motor move counterclockwise.</p>
</dd></dl>
<table border="1" class="docutils">
<colgroup>
<col width="47%" />
<col width="28%" />
<col width="25%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head"><code class="docutils literal notranslate"><span class="pre">positive_direction</span> <span class="pre">=</span></code></th>
<th class="head">Positive speed:</th>
<th class="head">Negative speed:</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td><code class="docutils literal notranslate"><span class="pre">Direction.CLOCKWISE</span></code></td>
<td>clockwise</td>
<td>counterclockwise</td>
</tr>
<tr class="row-odd"><td><code class="docutils literal notranslate"><span class="pre">Direction.COUNTERCLOCKWISE</span></code></td>
<td>counterclockwise</td>
<td>clockwise</td>
</tr>
</tbody>
</table>
<p>By default, the positive direction is set as clockwise. Refer to
<a class="reference internal" href="ev3devices.html#fig-ev3motors"><span class="std std-ref">this diagram</span></a> to see which direction this is for EV3
motors.</p>
</dd></dl>
<dl class="class">
<dt id="pybricks.parameters.Stop">
<em class="property">class </em><code class="descname">Stop</code><a class="headerlink" href="#pybricks.parameters.Stop" title="Permalink to this definition">¶</a></dt>
<dd><p>Action after the motor stops: coast, brake, or hold.</p>
<dl class="data">
<dt id="pybricks.parameters.Stop.COAST">
<code class="descname">COAST</code><a class="headerlink" href="#pybricks.parameters.Stop.COAST" title="Permalink to this definition">¶</a></dt>
<dd><p>Let the motor move freely.</p>
</dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Stop.BRAKE">
<code class="descname">BRAKE</code><a class="headerlink" href="#pybricks.parameters.Stop.BRAKE" title="Permalink to this definition">¶</a></dt>
<dd><p>Passively resist small external forces.</p>
</dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Stop.HOLD">
<code class="descname">HOLD</code><a class="headerlink" href="#pybricks.parameters.Stop.HOLD" title="Permalink to this definition">¶</a></dt>
<dd><p>Keep controlling the motor to hold it at the commanded angle. This is
only available on motors with encoders.</p>
</dd></dl>
<p>The following table show how each stop type adds an extra level of
resistance to motion. In these examples, <code class="docutils literal notranslate"><span class="pre">m</span></code> is a
<a class="reference internal" href="ev3devices.html#pybricks.ev3devices.Motor" title="pybricks.ev3devices.Motor"><code class="xref py py-class docutils literal notranslate"><span class="pre">Motor</span></code></a> and
and <code class="docutils literal notranslate"><span class="pre">d</span></code> is a <a class="reference internal" href="robotics.html#pybricks.robotics.DriveBase" title="pybricks.robotics.DriveBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DriveBase</span></code></a>. The
examples also show how running at zero speed compares to these stop types.</p>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="12%" />
<col width="8%" />
<col width="13%" />
<col width="15%" />
<col width="42%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head"><div class="first last line-block">
<div class="line">Type</div>
</div>
</th>
<th class="head"><div class="first last line-block">
<div class="line">Friction</div>
</div>
</th>
<th class="head"><div class="first last line-block">
<div class="line">Back</div>
<div class="line">EMF</div>
</div>
</th>
<th class="head"><div class="first last line-block">
<div class="line">Speed</div>
<div class="line">kept at 0</div>
</div>
</th>
<th class="head"><div class="first last line-block">
<div class="line">Angle kept</div>
<div class="line">at target</div>
</div>
</th>
<th class="head"><div class="first last line-block">
<div class="line">Examples</div>
</div>
</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Coast</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td> </td>
<td> </td>
<td> </td>
<td><div class="first last line-block">
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.stop()</span></code></div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.run_target(500,</span> <span class="pre">90,</span> <span class="pre">Stop.COAST)</span></code></div>
</div>
</td>
</tr>
<tr class="row-odd"><td>Brake</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td> </td>
<td> </td>
<td><div class="first last line-block">
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.brake()</span></code></div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.run_target(500,</span> <span class="pre">90,</span> <span class="pre">Stop.BRAKE)</span></code></div>
</div>
</td>
</tr>
<tr class="row-even"><td> </td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td> </td>
<td><div class="first last line-block">
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.run(0)</span></code></div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">d.drive(0,</span> <span class="pre">0)</span></code></div>
</div>
</td>
</tr>
<tr class="row-odd"><td>Hold</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><ul class="first last simple">
<li></li>
</ul>
</td>
<td><div class="first last line-block">
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.hold()</span></code></div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">m.run_target(500,</span> <span class="pre">90,</span> <span class="pre">Stop.HOLD)</span></code></div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">d.straight(0)</span></code></div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">d.straight(100)</span></code></div>
</div>
</td>
</tr>
</tbody>
</table>
</dd></dl>
<dl class="class">
<dt id="pybricks.parameters.Color">
<em class="property">class </em><code class="descname">Color</code><a class="headerlink" href="#pybricks.parameters.Color" title="Permalink to this definition">¶</a></dt>
<dd><p>Light or surface color.</p>
<dl class="data">
<dt id="pybricks.parameters.Color.BLACK">
<code class="descname">BLACK</code><a class="headerlink" href="#pybricks.parameters.Color.BLACK" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.BLUE">
<code class="descname">BLUE</code><a class="headerlink" href="#pybricks.parameters.Color.BLUE" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.GREEN">
<code class="descname">GREEN</code><a class="headerlink" href="#pybricks.parameters.Color.GREEN" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.YELLOW">
<code class="descname">YELLOW</code><a class="headerlink" href="#pybricks.parameters.Color.YELLOW" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.RED">
<code class="descname">RED</code><a class="headerlink" href="#pybricks.parameters.Color.RED" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.WHITE">
<code class="descname">WHITE</code><a class="headerlink" href="#pybricks.parameters.Color.WHITE" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.BROWN">
<code class="descname">BROWN</code><a class="headerlink" href="#pybricks.parameters.Color.BROWN" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.ORANGE">
<code class="descname">ORANGE</code><a class="headerlink" href="#pybricks.parameters.Color.ORANGE" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Color.PURPLE">
<code class="descname">PURPLE</code><a class="headerlink" href="#pybricks.parameters.Color.PURPLE" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
</dd></dl>
<dl class="class">
<dt id="pybricks.parameters.Button">
<em class="property">class </em><code class="descname">Button</code><a class="headerlink" href="#pybricks.parameters.Button" title="Permalink to this definition">¶</a></dt>
<dd><p>Buttons on a brick or remote:</p>
<dl class="data">
<dt id="pybricks.parameters.Button.LEFT_DOWN">
<code class="descname">LEFT_DOWN</code><a class="headerlink" href="#pybricks.parameters.Button.LEFT_DOWN" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.DOWN">
<code class="descname">DOWN</code><a class="headerlink" href="#pybricks.parameters.Button.DOWN" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.RIGHT_DOWN">
<code class="descname">RIGHT_DOWN</code><a class="headerlink" href="#pybricks.parameters.Button.RIGHT_DOWN" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.LEFT">
<code class="descname">LEFT</code><a class="headerlink" href="#pybricks.parameters.Button.LEFT" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.CENTER">
<code class="descname">CENTER</code><a class="headerlink" href="#pybricks.parameters.Button.CENTER" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.RIGHT">
<code class="descname">RIGHT</code><a class="headerlink" href="#pybricks.parameters.Button.RIGHT" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.LEFT_UP">
<code class="descname">LEFT_UP</code><a class="headerlink" href="#pybricks.parameters.Button.LEFT_UP" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.UP">
<code class="descname">UP</code><a class="headerlink" href="#pybricks.parameters.Button.UP" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.BEACON">
<code class="descname">BEACON</code><a class="headerlink" href="#pybricks.parameters.Button.BEACON" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="data">
<dt id="pybricks.parameters.Button.RIGHT_UP">
<code class="descname">RIGHT_UP</code><a class="headerlink" href="#pybricks.parameters.Button.RIGHT_UP" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<table border="1" class="docutils">
<colgroup>
<col width="34%" />
<col width="31%" />
<col width="34%" />
</colgroup>
<tbody valign="top">
<tr class="row-odd"><td>LEFT_UP</td>
<td>UP/BEACON</td>
<td>RIGHT_UP</td>
</tr>
<tr class="row-even"><td>LEFT</td>
<td>CENTER</td>
<td>RIGHT</td>
</tr>
<tr class="row-odd"><td>LEFT_DOWN</td>
<td>DOWN</td>
<td>RIGHT_DOWN</td>
</tr>
</tbody>
</table>
</dd></dl>
</div>
</div>
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