Phase Motor

The phase motor selects a concrete target orientation in the requested direction and holds the selected turn.

control.set_phase_motor(options)
control.get_phase_motor()

phase:0.25 means a quarter turn. 1 is invalid; use phase 0 for a whole turn. shortest chooses the shorter path and the positive direction for an exact half-turn tie. positive selects a target in the positive direction and negative in the negative direction. This chooses a target turn; it is not a persistent one-way drive.

Example#

wheel = jolt_control_wheel({phase_motor: {
    phase: 0.25, direction: "shortest", speed: 90, max_torque: 5
}});
var motor = wheel.get_phase_motor();
show_debug_message(motor.resolved_angle);

The target turn is retained. Overshoot, higher-priority pauses and changes to effort or speed do not change it. Resolution occurs on first configuration, phase/direction changes, re-enabling and set_zero(). This prevents unintentionally chasing another turn after a small overshoot.

enabled describes the stored request; active describes current drive ownership. A higher priority may pause a motor. Position and phase also return mode: off / paused / velocity / position, reached, angle_tolerance (0.1°) and speed_tolerance (1°/s). reached evaluates the actual position and speed now; it is not a one-shot event, and a reached motor continues holding its target.

New related workflows#

• Mouse interaction with controls›

Verified operation contracts#

These contracts distinguish units, return values, errors and lifetime according to the current implementation. Check results: false, 0 and undefined can mean different things for different methods.