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<li class="toctree-l1 current"><a class="current reference internal" href="#">Signals and Units</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#time-ms">time: ms</a></li>
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<div class="section" id="signals-and-units">
<h1>Signals and Units<a class="headerlink" href="#signals-and-units" title="Permalink to this headline">¶</a></h1>
<p>Many commands allow you to specify arguments in terms of well-known physical
quantities. This page gives an overview of each quantity and its unit.</p>
<div class="section" id="time">
<h2>Time<a class="headerlink" href="#time" title="Permalink to this headline">¶</a></h2>
<div class="section" id="time-ms">
<span id="id1"></span><h3>time: ms<a class="headerlink" href="#time-ms" title="Permalink to this headline">¶</a></h3>
<p>All time and duration values are measured in milliseconds (ms).</p>
<p>For example, the duration of motion with <code class="docutils literal notranslate"><span class="pre">run_time</span></code>, and the duration
of <a class="reference internal" href="tools.html#pybricks.tools.wait" title="pybricks.tools.wait"><code class="xref py py-func docutils literal notranslate"><span class="pre">wait</span></code></a> are
specified in milliseconds.</p>
</div>
</div>
<div class="section" id="angles-and-angular-motion">
<h2>Angles and angular motion<a class="headerlink" href="#angles-and-angular-motion" title="Permalink to this headline">¶</a></h2>
<div class="section" id="angle-deg">
<span id="angle"></span><h3>angle: deg<a class="headerlink" href="#angle-deg" title="Permalink to this headline">¶</a></h3>
<p>All angles are measured in degrees (deg). One full rotation corresponds to 360
degrees.</p>
<p>For example, the angle values of a <code class="docutils literal notranslate"><span class="pre">Motor</span></code> or
the <a class="reference internal" href="ev3devices.html#pybricks.ev3devices.GyroSensor.angle" title="pybricks.ev3devices.GyroSensor.angle"><code class="xref py py-meth docutils literal notranslate"><span class="pre">GyroSensor</span></code></a> are expressed in degrees.</p>
</div>
<div class="section" id="rotational-speed-deg-s">
<span id="speed"></span><h3>rotational speed: deg/s<a class="headerlink" href="#rotational-speed-deg-s" title="Permalink to this headline">¶</a></h3>
<p>Rotational speed, or <em>angular velocity</em> describes how fast something rotates,
expressed as the number of degrees per second (deg/s).</p>
<p>For example, the rotational speed values of a <code class="docutils literal notranslate"><span class="pre">Motor</span></code> or the
<a class="reference internal" href="ev3devices.html#pybricks.ev3devices.GyroSensor.speed" title="pybricks.ev3devices.GyroSensor.speed"><code class="xref py py-meth docutils literal notranslate"><span class="pre">GyroSensor</span></code></a> are expressed in degrees
per second.</p>
<p>While we recommend working with degrees per second in your programs, you can
use the following table to convert between commonly used units.</p>
<table border="1" class="docutils">
<colgroup>
<col width="38%" />
<col width="24%" />
<col width="38%" />
</colgroup>
<tbody valign="top">
<tr class="row-odd"><td> </td>
<td>deg/s</td>
<td>rpm</td>
</tr>
<tr class="row-even"><td>1 deg/s =</td>
<td>1</td>
<td>1/6=0.167</td>
</tr>
<tr class="row-odd"><td>1 rpm =</td>
<td>6</td>
<td>1</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="rotational-acceleration-deg-s-s">
<span id="acceleration"></span><h3>rotational acceleration: deg/s/s<a class="headerlink" href="#rotational-acceleration-deg-s-s" title="Permalink to this headline">¶</a></h3>
<p>Rotational acceleration, or <em>angular acceleration</em> describes how fast the
rotational speed changes. This is expressed as the change of the number of
degrees per second, during one second (deg/s/s). This is also commonly written
as <span class="math notranslate nohighlight">\(deg/s^2\)</span>.</p>
<p>For example, you can adjust the rotational acceleration setting of a <code class="docutils literal notranslate"><span class="pre">Motor</span></code>
to change how smoothly or
how quickly it reaches the constant speed set point.</p>
</div>
</div>
<div class="section" id="distance-and-linear-motion">
<h2>Distance and linear motion<a class="headerlink" href="#distance-and-linear-motion" title="Permalink to this headline">¶</a></h2>
<div class="section" id="distance-mm">
<span id="distance"></span><h3>distance: mm<a class="headerlink" href="#distance-mm" title="Permalink to this headline">¶</a></h3>
<p>Distances are expressed in millimeters (mm) whenever possible.</p>
<p>For example, the distance value of the <a class="reference internal" href="ev3devices.html#pybricks.ev3devices.UltrasonicSensor.distance" title="pybricks.ev3devices.UltrasonicSensor.distance"><code class="xref py py-meth docutils literal notranslate"><span class="pre">UltrasonicSensor</span></code></a> is measured in millimeters.</p>
<p>While we recommend working with millimeters in your programs, you can use the
following table to convert between commonly used units.</p>
<table border="1" class="docutils">
<colgroup>
<col width="32%" />
<col width="21%" />
<col width="18%" />
<col width="29%" />
</colgroup>
<tbody valign="top">
<tr class="row-odd"><td> </td>
<td>mm</td>
<td>cm</td>
<td>inch</td>
</tr>
<tr class="row-even"><td>1 mm =</td>
<td>1</td>
<td>0.1</td>
<td>0.0394</td>
</tr>
<tr class="row-odd"><td>1 cm =</td>
<td>10</td>
<td>1</td>
<td>0.394</td>
</tr>
<tr class="row-even"><td>1 inch =</td>
<td>25.4</td>
<td>2.54</td>
<td>1</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="dimension-mm">
<span id="dimension"></span><h3>dimension: mm<a class="headerlink" href="#dimension-mm" title="Permalink to this headline">¶</a></h3>
<p>Dimensions are expressed in millimeters (mm), just like
distances.</p>
<p>For example, the diameter of a wheel is measured in millimeters.</p>
</div>
<div class="section" id="speed-mm-s">
<span id="linspeed"></span><h3>speed: mm/s<a class="headerlink" href="#speed-mm-s" title="Permalink to this headline">¶</a></h3>
<p>Linear speeds are expressed as millimeters per second (mm/s).</p>
<p>For example, the speed of a robotic vehicle is expressed in mm/s.</p>
</div>
<div class="section" id="linear-acceleration-mm-s-s">
<span id="linacceleration"></span><h3>linear acceleration: mm/s/s<a class="headerlink" href="#linear-acceleration-mm-s-s" title="Permalink to this headline">¶</a></h3>
<p>Linear acceleration describes how fast the speed changes. This is expressed as
the change of the millimeters per second, during one second (deg/s/s).
This is also commonly written as <span class="math notranslate nohighlight">\(mm/s^2\)</span>.</p>
<p>For example, you can adjust the acceleration setting of 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> to change how
smoothly or how quickly it reaches the constant speed set point.</p>
</div>
</div>
<div class="section" id="approximate-and-relative-units">
<h2>Approximate and relative units<a class="headerlink" href="#approximate-and-relative-units" title="Permalink to this headline">¶</a></h2>
<div class="section" id="percentage">
<span id="id2"></span><h3>percentage: %<a class="headerlink" href="#percentage" title="Permalink to this headline">¶</a></h3>
<p>Some signals do not have specific units. They range from a minimum (0%) to a
maximum (100%). Specifics type of percentages are <a class="reference internal" href="#relativedistance"><span class="std std-ref">relative distances</span></a> or <a class="reference internal" href="#brightness"><span class="std std-ref">brightness</span></a>.</p>
<p>Another example is the sound volume,
which ranges from 0% (silent) to 100% (loudest).</p>
</div>
<div class="section" id="relative-distance">
<span id="relativedistance"></span><h3>relative distance: %<a class="headerlink" href="#relative-distance" title="Permalink to this headline">¶</a></h3>
<p>Some distance measurements do not provide an accurate value with a specific
unit, but they range from very close (0%) to very far (100%). These are
referred to as relative distances.</p>
<p>For example, the distance value of the <a class="reference internal" href="ev3devices.html#pybricks.ev3devices.InfraredSensor.distance" title="pybricks.ev3devices.InfraredSensor.distance"><code class="xref py py-meth docutils literal notranslate"><span class="pre">InfraredSensor</span></code></a> is a relative distance.</p>
</div>
<div class="section" id="brightness">
<span id="id3"></span><h3>brightness: %<a class="headerlink" href="#brightness" title="Permalink to this headline">¶</a></h3>
<p>The perceived brightness of a light is expressed as a percentage. It is 0% when
the light is off and 100% when the light is fully on. When you choose 50%, this
means that the light is perceived as approximately half as bright to the human
eye.</p>
</div>
</div>
<div class="section" id="force">
<h2>Force<a class="headerlink" href="#force" title="Permalink to this headline">¶</a></h2>
<div class="section" id="force-n">
<span id="id4"></span><h3>force: N<a class="headerlink" href="#force-n" title="Permalink to this headline">¶</a></h3>
<p>Force values are expressed in newtons (N).</p>
<p>While we recommend working with newtons in your programs, you can use the
following table to convert to and from other units.</p>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="12%" />
<col width="14%" />
<col width="57%" />
</colgroup>
<tbody valign="top">
<tr class="row-odd"><td> </td>
<td>mN</td>
<td>N</td>
<td>lbf</td>
</tr>
<tr class="row-even"><td>1 mN =</td>
<td>1</td>
<td>0.001</td>
<td><span class="math notranslate nohighlight">\(2.248 \cdot 10^{-4}\)</span></td>
</tr>
<tr class="row-odd"><td>1 N =</td>
<td>1000</td>
<td>1</td>
<td>0.2248</td>
</tr>
<tr class="row-even"><td>1 lbf =</td>
<td>4448</td>
<td>4.448</td>
<td>1</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="electricity">
<h2>Electricity<a class="headerlink" href="#electricity" title="Permalink to this headline">¶</a></h2>
<div class="section" id="voltage-mv">
<span id="voltage"></span><h3>voltage: mV<a class="headerlink" href="#voltage-mv" title="Permalink to this headline">¶</a></h3>
<p>Voltages are expressed in millivolt (mV).</p>
<p>For example, you can check the voltage of the battery.</p>
</div>
<div class="section" id="current-ma">
<span id="current"></span><h3>current: mA<a class="headerlink" href="#current-ma" title="Permalink to this headline">¶</a></h3>
<p>Electrical currents are expressed in milliampere (mA).</p>
<p>For example, you can check the current supplied by the battery.</p>
</div>
<div class="section" id="energy-j">
<span id="energy"></span><h3>energy: J<a class="headerlink" href="#energy-j" title="Permalink to this headline">¶</a></h3>
<p>Stored energy or energy consumption can be expressed in Joules (J).</p>
</div>
<div class="section" id="power-mw">
<span id="power"></span><h3>power: mW<a class="headerlink" href="#power-mw" title="Permalink to this headline">¶</a></h3>
<p>Power is the rate at which energy is stored or consumed. It is expressed in
milliwatt (mW).</p>
</div>
</div>
<div class="section" id="ambient-environment">
<h2>Ambient environment<a class="headerlink" href="#ambient-environment" title="Permalink to this headline">¶</a></h2>
<div class="section" id="frequency-hz">
<span id="frequency"></span><h3>frequency: Hz<a class="headerlink" href="#frequency-hz" title="Permalink to this headline">¶</a></h3>
<p>Sound frequencies are expressed in Hertz (Hz).</p>
<p>For example, you can choose the frequency of a beep to change the pitch.</p>
</div>
<div class="section" id="temperature-c">
<span id="temperature"></span><h3>temperature: °C<a class="headerlink" href="#temperature-c" title="Permalink to this headline">¶</a></h3>
<p>Temperature is measured in degrees Celcius (°C). To convert to degrees
Fahrenheit (°F) or Kelvin (K), you can use the following conversion formulas:</p>
<blockquote>
<div><p><span class="math notranslate nohighlight">\(°\!F = °\!C \cdot \frac{9}{5} + 32\)</span>.</p>
<p><span class="math notranslate nohighlight">\(K = °\!C + 273.15\)</span>.</p>
</div></blockquote>
</div>
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