questions about await run_angle(speed, rotation_angle, then=Stop.HOLD, wait=True)

[familynygood]

I have a question about the run_angle function. How can I define the acceleration with this function? I think it will be great to be able to adjust the acceleration. For example, here is your sample code:

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

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

# By default, the motor holds the position. It keeps
# correcting the angle if you move it.
example_motor.run_angle(500, 360)
wait(1000)

# This does exactly the same as above.
example_motor.run_angle(500, 360, then=Stop.HOLD)
wait(1000)

# You can also brake. This applies some resistance
# but the motor does not move back if you move it.
example_motor.run_angle(500, 360, then=Stop.BRAKE)
wait(1000)

# This makes the motor coast freely after it stops.
example_motor.run_angle(500, 360, then=Stop.COAST)
wait(1000)

Do I define acceleration globally? What if I want the motor runs at different acceleration? How can I get it updated?

[laurensvalk]

You can set the acceleration with motor.control.limits(acceleration=2000). It will apply for all motor commands until you change it again.