kopia lustrzana https://github.com/GuyCarver/MicroPython
45 wiersze
964 B
Python
45 wiersze
964 B
Python
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#Driver for the L298N Dual HBridge motor controller.
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from PWM import PWM
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from pyb import Pin
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#motordata
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#Forward pin
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#Back pin
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#Speed pin (PWM)
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class Motor( ):
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"""docstring for Motor"""
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def __init__(self, forward, backward, speed):
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"""Speed = (pin name, timer#)"""
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self._forward = Pin(forward, Pin.OUT_PP)
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self._backward = Pin(backward, Pin.OUT_PP)
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self._speedControl = PWM(speed[0], speed[1])
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self._speed = 0
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@property
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def speed(self): return self._speed
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@speed.setter
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def speed(self, value):
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self._speed = value
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if (value == 0):
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self._forward.low()
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self._backward.low()
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elif (value < 0):
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self._forward.low()
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self._backward.high()
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else:
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self._forward.high()
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self._backward.low()
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self._speedControl.pulse_width_percent = abs(value)
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def brake( self ) :
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""" """
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self._forward.high()
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self._backward.high()
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self._speedControl.pulse_width_percent(1.0)
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