Refactored all references to raw motors left and right speed properties to left and right duty cycle. Updated observer thermal protection example to match asyncio sample

Angel Campos · Angel Campos · commit 3ff9abd4d9c2 · 2020-07-21T11:34:59.000-06:00
diff --git a/getting_started/asyncio/driving/drive_raw_motors.py b/getting_started/asyncio/driving/drive_raw_motors.py
@@ -36,49 +36,49 @@ async def main():
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=0  # Valid speed values are 0-255
+        right_duty_cycle=0  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.reverse.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.reverse.value,
-        right_speed=0 # Valid speed values are 0-255
+        right_duty_cycle=0 # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.reverse.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=0  # Valid speed values are 0-255
+        right_duty_cycle=0  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=0  # Valid speed values are 0-255
+        right_duty_cycle=0  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.off.value,
-        left_speed=128, # Valid speed values are 0-255
+        left_duty_cycle=128, # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.off.value,
-        right_speed=0# Valid speed values are 0-255
+        right_duty_cycle=0# Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
diff --git a/getting_started/asyncio/infrared/broadcast_ir.py b/getting_started/asyncio/infrared/broadcast_ir.py
@@ -35,9 +35,9 @@ async def main():
     for i in range(2):
         await rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=64,  # Valid speed values are 0-255
+            left_duty_cycle=64,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=64  # Valid speed values are 0-255
+            right_duty_cycle=64  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
diff --git a/getting_started/asyncio/infrared/broadcast_ir_with_helper.py b/getting_started/asyncio/infrared/broadcast_ir_with_helper.py
@@ -34,9 +34,9 @@ async def main():
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=64,  # Valid speed values are 0-255
+        left_duty_cycle=64,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=64  # Valid speed values are 0-255
+        right_duty_cycle=64  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to drive
diff --git a/getting_started/asyncio/motors/get_motor_fault_state.py b/getting_started/asyncio/motors/get_motor_fault_state.py
@@ -29,9 +29,9 @@ async def main():
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=128  # Valid speed values are 0-255
+        right_duty_cycle=128  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to drive
diff --git a/getting_started/asyncio/motors/motor_fault_notification.py b/getting_started/asyncio/motors/motor_fault_notification.py
@@ -38,9 +38,9 @@ async def main():
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=128  # Valid speed values are 0-255
+        right_duty_cycle=128  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to drive
diff --git a/getting_started/asyncio/motors/thermal_protection_notification.py b/getting_started/asyncio/motors/thermal_protection_notification.py
@@ -5,7 +5,6 @@
 import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
-from sphero_sdk import RawMotorModesEnum
 from sphero_sdk import TemperatureSensorsEnum
 
 loop = asyncio.get_event_loop()
@@ -45,7 +44,7 @@ async def main():
     while True:
         await rvr.drive_tank_normalized(
             left_velocity=127, # Valid linear velocity values are [-127..127]
-            right_velocity=-127 # Valid speed values are 0-255
+            right_velocity=-127 # Valid linear velocity values are [-127..127]
         )
 
         await asyncio.sleep(1)
diff --git a/getting_started/observer/driving/drive_raw_motors.py b/getting_started/observer/driving/drive_raw_motors.py
@@ -24,49 +24,49 @@ def main():
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=128,  # Valid speed values are 0-255
+            left_duty_cycle=128,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=128  # Valid speed values are 0-255
+            right_duty_cycle=128  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
         time.sleep(1)
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.reverse.value,
-            left_speed=64,  # Valid speed values are 0-255
+            left_duty_cycle=64,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.reverse.value,
-            right_speed=64  # Valid speed values are 0-255
+            right_duty_cycle=64  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
         time.sleep(1)
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.reverse.value,
-            left_speed=128,  # Valid speed values are 0-255
+            left_duty_cycle=128,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=128  # Valid speed values are 0-255
+            right_duty_cycle=128  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
         time.sleep(1)
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=128,  # Valid speed values are 0-255
+            left_duty_cycle=128,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=128  # Valid speed values are 0-255
+            right_duty_cycle=128  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
         time.sleep(1)
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.off.value,
-            left_speed=0,  # Valid speed values are 0-255
+            left_duty_cycle=0,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.off.value,
-            right_speed=0  # Valid speed values are 0-255
+            right_duty_cycle=0  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
diff --git a/getting_started/observer/infrared/broadcast_ir.py b/getting_started/observer/infrared/broadcast_ir.py
@@ -29,9 +29,9 @@ def main():
         for i in range(2):
             rvr.raw_motors(
                 left_mode=RawMotorModesEnum.forward.value,
-                left_speed=64,  # Valid speed values are 0-255
+                left_duty_cycle=64,  # Valid duty cycle range is 0-255
                 right_mode=RawMotorModesEnum.forward.value,
-                right_speed=64  # Valid speed values are 0-255
+                right_duty_cycle=64  # Valid duty cycle range is 0-255
             )
 
             # Delay to allow RVR to drive
diff --git a/getting_started/observer/infrared/broadcast_ir_with_helper.py b/getting_started/observer/infrared/broadcast_ir_with_helper.py
@@ -28,9 +28,9 @@ def main():
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=64,  # Valid speed values are 0-255
+            left_duty_cycle=64,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=64  # Valid speed values are 0-255
+            right_duty_cycle=64  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
diff --git a/getting_started/observer/motors/get_motor_fault_state.py b/getting_started/observer/motors/get_motor_fault_state.py
@@ -26,9 +26,9 @@ def main():
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=128,  # Valid speed values are 0-255
+            left_duty_cycle=128,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=128  # Valid speed values are 0-255
+            right_duty_cycle=128  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
diff --git a/getting_started/observer/motors/motor_fault_notification.py b/getting_started/observer/motors/motor_fault_notification.py
@@ -31,9 +31,9 @@ def main():
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=128,  # Valid speed values are 0-255
+            left_duty_cycle=128,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=128  # Valid speed values are 0-255
+            right_duty_cycle=128  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
diff --git a/getting_started/observer/motors/motor_stall_notification.py b/getting_started/observer/motors/motor_stall_notification.py
@@ -30,9 +30,9 @@ def main():
 
         rvr.raw_motors(
             left_mode=RawMotorModesEnum.forward.value,
-            left_speed=128,  # Valid speed values are 0-255
+            left_duty_cycle=128,  # Valid duty cycle range is 0-255
             right_mode=RawMotorModesEnum.forward.value,
-            right_speed=128  # Valid speed values are 0-255
+            right_duty_cycle=128  # Valid duty cycle range is 0-255
         )
 
         # Delay to allow RVR to drive
diff --git a/getting_started/observer/motors/thermal_protection_notification.py b/getting_started/observer/motors/thermal_protection_notification.py
@@ -4,43 +4,60 @@
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../../../')))
 
 from sphero_sdk import SpheroRvrObserver
-from sphero_sdk import RawMotorModesEnum
-
+from sphero_sdk import TemperatureSensorsEnum
 
 rvr = SpheroRvrObserver()
 
 
 def thermal_protection_handler(response):
     print('Motor thermal protection response:', response)
 
+
 def main():
     """ This program demonstrates how to register a handler for a motor thermal protection notification, in the event
-        RVR's motors are at risk of overheating.  In order to receive the notification, RVR's motors must be heavy use
-        for an extended period.
-    """
+        RVR's motors are at risk of overheating.  In order to receive the notification, RVR's motors must be heavily
+        used for an extended period.
 
+        For visibility into the motor temperatures, they are printed to the console every minute.
+    """
     try:
+        printing_loop_counter=9;
+
         rvr.wake()
 
         rvr.enable_motor_thermal_protection_status_notify(is_enabled=True)
 
         rvr.on_motor_thermal_protection_status_notify(handler=thermal_protection_handler)
 
         # Give RVR time to wake up
-        time.sleep(2)
+        time.sleep(1)
 
         print('Press CTRL+C to stop this program anytime.')
 
+        # Allow RVR to drive infinitely
         while True:
-            rvr.raw_motors(
-                left_mode=RawMotorModesEnum.forward.value,
-                left_speed=128,  # Valid speed values are 0-255
-                right_mode=RawMotorModesEnum.forward.value,
-                right_speed=128  # Valid speed values are 0-255
+            rvr.drive_tank_normalized(
+                left_velocity=127, # Valid linear velocity values are [-127..127]
+                right_velocity=-127 # Valid linear velocity values are [-127..127]
             )
 
             time.sleep(1)
 
+            printing_loop_counter += 1
+            if(++printing_loop_counter>=10):
+                # It's been 1 minute.  Zero the counter
+                printing_loop_counter = 0
+
+                # Query the temperature
+                response = rvr.get_temperature(
+                    id0=TemperatureSensorsEnum.left_motor_temperature.value,
+                    id1=TemperatureSensorsEnum.right_motor_temperature.value
+                )
+
+                # 2 Decimal places are displayed only to make changes more visible.
+                # Motor thermal modeling is not actually that precise in practice.
+                print("L={0:.2f}C, R={1:.2f}C".format(response["temp0"], response["temp1"]))
+
     except KeyboardInterrupt:
         print('\nProgram terminated with keyboard interrupt.')
 
@@ -49,4 +66,4 @@ def main():
 
 
 if __name__ == '__main__':
-    main()
+    main()
diff --git a/sphero_sdk/asyncio/client/toys/sphero_rvr_async.py b/sphero_sdk/asyncio/client/toys/sphero_rvr_async.py
@@ -326,17 +326,17 @@ async def get_current_sense_amplifier_current(self, amplifier_id, timeout=None):
         command_dict = power.get_current_sense_amplifier_current(amplifier_id, target=1, timeout=timeout)
         return await self._dal.send_command(**command_dict)
 
-    async def raw_motors(self, left_mode, left_speed, right_mode, right_speed, timeout=None): 
+    async def raw_motors(self, left_mode, left_duty_cycle, right_mode, right_duty_cycle, timeout=None): 
         """Run left and right motors at a normalized duty cycle between 0 and 255. Set driving mode using flags.
 
         Args:
             left_mode (uint8_t): Drive mode: 0x0-off, 0x1-forward, 0x2-reverse
-            left_speed (uint8_t): Duty cycle normalized to 0-255 (This is not a speed, but can't be renamed yet)
+            left_duty_cycle (uint8_t): Duty cycle normalized to 0-255
             right_mode (uint8_t): Drive mode: 0x0-off, 0x1-forward, 0x2-reverse
-            right_speed (uint8_t): Duty cycle normalized to 0-255 (This is not a speed, but can't be renamed yet)
+            right_duty_cycle (uint8_t): Duty cycle normalized to 0-255
             timeout (float): maximum time to await a response.
         """
-        command_dict = drive.raw_motors(left_mode, left_speed, right_mode, right_speed, target=2, timeout=timeout)
+        command_dict = drive.raw_motors(left_mode, left_duty_cycle, right_mode, right_duty_cycle, target=2, timeout=timeout)
         return await self._dal.send_command(**command_dict)
 
     async def reset_yaw(self, timeout=None): 
diff --git a/sphero_sdk/common/commands/drive.py b/sphero_sdk/common/commands/drive.py
@@ -11,7 +11,7 @@
 from sphero_sdk.common.sequence_number_generator import SequenceNumberGenerator
 
 
-def raw_motors(left_mode, left_speed, right_mode, right_speed, target, timeout): 
+def raw_motors(left_mode, left_duty_cycle, right_mode, right_duty_cycle, target, timeout): 
     return { 
         'did': DevicesEnum.drive,
         'cid': CommandsEnum.raw_motors,
@@ -27,10 +27,10 @@ def raw_motors(left_mode, left_speed, right_mode, right_speed, target, timeout):
                 size=1
             ),
             Parameter( 
-                name='left_speed',
+                name='left_duty_cycle',
                 data_type='uint8_t',
                 index=1,
-                value=left_speed,
+                value=left_duty_cycle,
                 size=1
             ),
             Parameter( 
@@ -41,10 +41,10 @@ def raw_motors(left_mode, left_speed, right_mode, right_speed, target, timeout):
                 size=1
             ),
             Parameter( 
-                name='right_speed',
+                name='right_duty_cycle',
                 data_type='uint8_t',
                 index=3,
-                value=right_speed,
+                value=right_duty_cycle,
                 size=1
             ),
         ],
diff --git a/sphero_sdk/observer/client/toys/sphero_rvr_observer.py b/sphero_sdk/observer/client/toys/sphero_rvr_observer.py
