motor.Motor Class Reference

Public Member Functions
	__init__ (self, Pin PWM_pin, Pin DIR_pin, Pin nSLP_pin, int tim_num, int chan_num)
	set_effort (self, float effort)
	enable (self)
	disable (self)
	get_state (self)

Public Attributes
	PWM_pin = Pin(PWM_pin, mode=Pin.OUT_PP, value=0)
	DIR_pin = Pin(DIR_pin, mode=Pin.OUT_PP, value=0)
	nSLP_pin = Pin(nSLP_pin, mode=Pin.OUT_PP, value=0)
	tim_obj = Timer(tim_num, freq=20000)
	chan_obj = self.tim_obj.channel(chan_num, pin=self.PWM_pin, mode=Timer.PWM, pulse_width_percent = 0)
int	effort = 0
	if motor not enabled, don't change the pulse_width_percent yet
bool	enabled = False
	if motor not enabled, don't change the pulse_width_percent yet

Detailed Description

A motor driver interface encapsulated in a Python class. Works with
   motor drivers using separate PWM and direction inputs such as the DRV8838
   drivers present on the Romi chassis from Pololu.

Constructor & Destructor Documentation

__init__()

motor.Motor.__init__	(		self,
		Pin	PWM_pin,
		Pin	DIR_pin,
		Pin	nSLP_pin,
		int	tim_num,
		int	chan_num )

Initializes a Motor object

Member Function Documentation

disable()

motor.Motor.disable

(

self

)

Disables the motor driver by taking it into sleep mode

enable()

motor.Motor.enable

(

self

)

Enables the motor driver by taking it out of sleep mode into brake mode

get_state()

motor.Motor.get_state

(

self

)

Report values for motor state

set_effort()

motor.Motor.set_effort	(		self,
		float	effort )

Sets the present effort requested from the motor based on an input value between -100 and 100

Member Data Documentation

chan_obj

motor.Motor.chan_obj = self.tim_obj.channel(chan_num, pin=self.PWM_pin, mode=Timer.PWM, pulse_width_percent = 0)

DIR_pin

motor.Motor.DIR_pin = Pin(DIR_pin, mode=Pin.OUT_PP, value=0)

effort

motor.Motor.effort = 0

if motor not enabled, don't change the pulse_width_percent yet

motor must already be enabled, so it's okay to set effort

enabled

bool motor.Motor.enabled = False

if motor not enabled, don't change the pulse_width_percent yet

nSLP_pin

motor.Motor.nSLP_pin = Pin(nSLP_pin, mode=Pin.OUT_PP, value=0)

PWM_pin

motor.Motor.PWM_pin = Pin(PWM_pin, mode=Pin.OUT_PP, value=0)

tim_obj

motor.Motor.tim_obj = Timer(tim_num, freq=20000)

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

• src/motor.py