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MoveHub.md

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Move Hub

MoveHub is extension of generic Powered Up Hub class. MoveHub class delivers specifics of MoveHub brick, such as internal motor port names. Apart from specifics listed below, all operations on Hub are done as usual.

Devices Detecting

As part of instantiating process, MoveHub waits up to 1 minute for builtin devices to appear, such as motors on ports A and B, tilt sensor, LED and battery. This not guarantees that external motor and/or color sensor will be present right after MoveHub instantiated. Usually, time.sleep(1.0) for couple of seconds gives it enough time to detect everything.

MoveHub provides motors via following fields:

  • motor_A - port A motor
  • motor_B - port B motor
  • motor_AB - combined motors A+B manipulated together
  • motor_external - external motor attached to port C or D

MoveHub's internal tilt sensor is available through tilt_sensor field.

Field named vision_sensor holds instance of VisionSensor, if one is attached to MoveHub.

Fields named current and voltage present corresponding sensors from Hub.

Push Button

MoveHub class has field button to subscribe to button press and release events.

Note that Button class is not real Peripheral, as it has no port and not listed in peripherals field of Hub. For convenience, subscribing to button is still done usual way:

from pylgbst.hub import MoveHub

def callback(is_pressed):
    print("Btn pressed: %s" % is_pressed)

hub = MoveHub()
hub.button.subscribe(callback)

The state for button has 3 possible values:

  • 0 - not released
  • 1 - pressed
  • 2 - pressed

It is for now unknown why Hub always issues notification with 1 and immediately with 2, after button is pressed.