kopia lustrzana https://github.com/GuyCarver/MicroPython
44 wiersze
1.2 KiB
Python
44 wiersze
1.2 KiB
Python
#Driver for the L298N Dual HBridge motor controller.
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from PWM import PWM
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from pyb import Pin, delay
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class Motor( ):
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"""Control a motor connected to the L298N Dual motor controller."""
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def __init__( self, forward, backward, speed ) :
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"""forward pin name, backward pin name, speed = (pin name, timer#)
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Need to make sure the given timer # is associated with the speed
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pin or an exception will be raised. The speed pin must support
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PWM."""
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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 = min(100, abs(value))
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def brake( self ) :
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""" Brake the motor by sending power both directions. """
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self._forward.high()
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self._backward.high()
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self._speedControl.pulse_width_percent = 100
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delay(1000)
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self.speed = 0
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