Asynchronous rotation of motor? Don't wait

Hi there!

I’m using python to program my BrickPi.

I’m rotating the motor by 90 degrees by using set_motor_position(). After it’s finished I want to let the motor rotate freely, so I call BP.set_motor_power(BP.PORT_A, BP.MOTOR_FLOAT). The problem is that I have to wait with time.sleep(0.5) until the motor finishes the movement and in the meantime I can’t log or use it’s sensor value which would be really important for my use-case.

Is there a way to make the motor rotate asynchronously so in the meantime I can do other things in the program?

Thanks for the help!