kopia lustrzana https://github.com/GuyCarver/MicroPython
74 wiersze
1.9 KiB
Python
74 wiersze
1.9 KiB
Python
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#Driver for the bts7960 43A high power motor controller.
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from machine import Pin, PWM
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from utime import sleep_ms
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class motor( ):
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'''Control a motor connected to the bts7960 motor controller.'''
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_MAXDUTY = const(1023)
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def __init__( self, aForward, aBackward, aFreq = 100 ) :
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'''aForward = tuple (On Pin #, PWM Pin #)
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aBackward = tuple (On Pin #, PWM Pin #)
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aFreq = PWM freq.
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#Example:
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m1 = motor((19, 22), (21, 23))
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'''
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self._onf = Pin(aForward[0], Pin.OUT)
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self._forward = PWM(Pin(aForward[1], Pin.OUT))
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self._onb = Pin(aBackward[0], Pin.OUT)
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self._backward = PWM(Pin(aBackward[1], Pin.OUT))
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self._freq = aFreq
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self._speed = 0
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@staticmethod
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def seton( aPin, aOn ) :
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'''Set on/off (free wheeling) state of motor.'''
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aPin.value(1 if aOn else 0)
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@property
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def frequency( self ) :
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return self._freq
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@frequency.setter
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def frequency( self, aValue ) :
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'''Set frequency for forward/backward PWM pins.'''
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self._freq = aValue
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self._forward.freq(self._freq)
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self._backward.freq(self._freq)
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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, aValue ) :
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'''Set velocity and direction of motor with -100 <= aValue <= 100.'''
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self._speed = aValue
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pos = True
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if aValue == 0 :
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motor.seton(self._onb, False)
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motor.seton(self._onf, False)
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return
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elif aValue < 0 :
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aValue = -aValue
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pos = False
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motor.seton(self._onf, pos)
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motor.seton(self._onb, not pos)
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duty = (min(100, aValue) * _MAXDUTY) // 100
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self._forward.duty(duty)
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self._backward.duty(duty)
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def brake( self ) :
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'''Brake the motor by sending power both directions, then shut it all down.'''
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self._forward.duty(_MAXDUTY)
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self._backward.duty(_MAXDUTY)
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motor.seton(self._onf, True)
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motor.seton(self._onb, True)
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sleep_ms(500)
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self.speed = 0
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