About lowering amp to L-size motor to prevent choking of M-size motor

[garfield8625]

Hello wise-ones,

I have the following issue: While steering is engaged/actively used it chokes the driving motor
Question: Is there a way to lower the amp that the Large motor gets via code to make it leave more juice for the M-sized?

Lego ECTO-1 motorized:

• hub: 88009
• steering: 1 Large motor (88013),
• drive: 1 Medium linear motor (45303)
  (Medium motor is being used due to lack of space ofr bigger motor.)

Code (if needed):

initial_drive_speed = 100

steer = Motor(Port.B, Direction.COUNTERCLOCKWISE)
back = DCMotor(Port.A, Direction.COUNTERCLOCKWISE)

remote = Remote()

old_kp, old_ki, old_kd, _, _ = steer.control.pid()

steer.control.pid(kp=old_kp*4, kd=old_kd*0.4)

left_end = steer.run_until_stalled(-200, then=Stop.HOLD)
right_end = steer.run_until_stalled(200, then=Stop.HOLD)

steer.reset_angle((right_end - left_end)/2)
steer.run_target(speed=200, target_angle=0, wait=False)

steer_angle = (((right_end - left_end)/2)-5)
print('steer angle:',steer_angle)

while True:
    pressed = remote.buttons.pressed()

    if Button.RIGHT_PLUS in pressed:
        steer.run_target(1400, -steer_angle, Stop.HOLD, False)
    elif Button.RIGHT_MINUS in pressed:
        steer.run_target(1400, steer_angle, Stop.HOLD, False)
    else:
        steer.track_target(0)

    drive_speed = 0
    if Button.LEFT_PLUS in pressed:
        drive_speed = initial_drive_speed
    if Button.LEFT_MINUS in pressed:
        drive_speed = -initial_drive_speed

    back.dc(drive_speed)

    wait(10)

[dlech]

There is a maximum voltage setting for motors: https://docs.pybricks.com/en/stable/pupdevices/motor.html#pybricks.pupdevices.Motor.settings

There is also a maximum torque setting for controlled actuation: https://docs.pybricks.com/en/stable/pupdevices/motor.html#pybricks.pupdevices.Motor.Motor.control.limits

[dlech]

steer.control.limits(torque=100)

You can print(steer.control.limits()[2]) to see what the default setting is.

[dlech]

Or do like you did with the PID.

_, _, old_torque = steer.control.limits()
steer.control.limits(torque=old_torque*0.5)

[garfield8625]

How would I link this command to a specific motor? - B-port in my case
or this command "steer,control.limit" already linked it to the streering motor?
I'm asking this much as im not very well versed in coding.. apologies!

[dlech]

steer = Motor(Port.B, Direction.COUNTERCLOCKWISE)

steer is already defined as the motor on port B. So steer.anything will act on that motor (with anything being literally anything listed in the docs as attributes of the motor class).

[garfield8625]

MANY THANKS!!!! you just solved my issue
!