How to decelerate slowly

[Xylar52]

i can't seem to get the robot Spike Prime to brake instead of just stopping hard. I used the example code to see the difference between motor.stop and motor.brake and both just makes the robot stop instantly. And even if i succeded to make the robot brake, i don't how to make both motor brake at the same time while using drivebase, because drivebase doesn't have a brake function and it's stop function just makes the robot stop instantly

from pybricks.pupdevices import Motor
from pybricks.parameters import Port
from pybricks.tools import wait

# Initialize a motor on port A.
example_motor = Motor(Port.A)

# Run at 500 deg/s and then stop by coasting.
example_motor.run(500)
wait(1500)
example_motor.stop()
wait(1500)

# Run at 500 deg/s and then stop by braking.
example_motor.run(500)
wait(1500)
example_motor.brake()
wait(1500)

[laurensvalk]

brake makes it stop even faster than stop, which just coasts the motor. These motors stop almost instantly because of friction.

It sounds like you want slower deceleration?

You can adjust the motor acceleration and deceleration as follows:

example_motor.control.limits(acceleration=(2000, 500))
example_motor.run_angle(1000, 360*4)

In this case, it accelerates at 2000 deg/s^2 and decelerates slowly at 500 deg/s^2.

If you do this for both motors and then create the drivebase, it will use those settings as well.

[Xylar52]

oh i didn't even know you could adjust motor deceleration, you learned me something. Thanks

[laurensvalk]

It's a fairly new feature :)