motor.MotorDriver Class Reference

Public Member Functions
def	__init__ (self, nSLEEP_pin=pyb.Pin.board.PA15, nFAULT_pin=pyb.Pin.board.PB2, INx_pin=pyb.Pin.board.PB5, OUTx_pin=pyb.Pin.board.PB4, INy_pin=pyb.Pin.board.PB1, OUTy_pin=pyb.Pin.board.PB0, INxy_timer=pyb.Timer(3), frequency=80000)
	! More...
def	enable (self)
	Enables the motors. More...
def	disable (self)
	Disables the motors. More...
def	fault_CB (self)
	A callback which disables the motors on fault detection. More...
def	clear_fault (self)
	Clears the fault so the motors can be used. More...
def	set_level_1 (self, direction, level)
	Spins motor 1 in direction at level of its max power. More...
def	set_level_2 (self, direction, level)
	Spins motor 2 in direction at level of its max power. More...

Public Attributes
	enabled
	nsleep
	nfault
	m1p
	m2p
	m1m
	m2m
	tim
	freq
	ch1
	ch2
	ch3
	ch4

Constructor & Destructor Documentation

__init__()

def motor.MotorDriver.__init__	(		self,
			nSLEEP_pin = pyb.Pin.board.PA15,
			nFAULT_pin = pyb.Pin.board.PB2,
			INx_pin = pyb.Pin.board.PB5,
			OUTx_pin = pyb.Pin.board.PB4,
			INy_pin = pyb.Pin.board.PB1,
			OUTy_pin = pyb.Pin.board.PB0,
			INxy_timer = pyb.Timer(3),
			frequency = 80000
	)

!

Initializes the pins for the motors, as well as the timer.

Parameters

[in]	nSLEEP_pin	pyb.Pin, Pin for not sleep The default is pyb.Pin.board.PA15.
[in]	nFAULT_pin	pyb.Pin, Pin for not fault The default is pyb.Pin.board.PB2.
[in]	INx_pin	pyb.Pin, pin connected to positive on motor x The default is pyb.Pin.board.PB5.
[in]	OUTx_pin	pyb.Pin, pin connected to negative on motor x The default is pyb.Pin.board.PB4.
[in]	INy_pin	pyb.Pin, pin connected to positive on motor y The default is pyb.Pin.board.PB1.
[in]	OUTy_pin	pyb.Pin, pin connected to negative on motor y The default is pyb.Pin.board.PB0.
[in]	INxy_timer	pyb.Timer(), chooses which timer to use for PWM The default is pyb.Timer(3).
[in]	frequency	INT, defines the PWM frequency The default is 80000

Returns

Returns nothing.

Member Function Documentation

clear_fault()

def motor.MotorDriver.clear_fault

(

self

)

Clears the fault so the motors can be used.

Returns

Returns nothing

disable()

def motor.MotorDriver.disable

(

self

)

Disables the motors.

Returns

Returns nothing

enable()

def motor.MotorDriver.enable

(

self

)

Enables the motors.

Returns

Returns nothing

fault_CB()

def motor.MotorDriver.fault_CB

(

self

)

A callback which disables the motors on fault detection.

Returns

Returns nothing

set_level_1()

def motor.MotorDriver.set_level_1	(		self,
			direction,
			level
	)

Spins motor 1 in direction at level of its max power.

Parameters

direction	Boolean representing direcction of motor spin
level	Integer representing percentage level of motor power

Returns

Returns nothing

set_level_2()

def motor.MotorDriver.set_level_2	(		self,
			direction,
			level
	)

Spins motor 2 in direction at level of its max power.

Parameters

direction	Boolean representing direcction of motor spin
level	Integer representing percentage level of motor power

Returns

Returns nothing

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The documentation for this class was generated from the following file:

• motor.py