motorDriver.DCMotor Class Reference

Motor Driver Class. More...

Public Member Functions
def	__init__ (self, idNum, nSleep_pin, in1_pin, in2_pin, timer, ch1, ch2, duty=0)
	Initializes the Motor Driver class. More...
def	__repr__ (self)
	Define how a DCMotor object is represented.
def	enable (self)
	Enabling Method. More...
def	disable (self)
	Disabling method. More...
def	setDuty (self, duty)
	Duty input. More...
def	driveFWD (self)
	Forward Drive method. More...
def	driveBKWD (self)
	Backward Drive method. More...
def	brake (self)
	Brake Method. More...
def	stop (self)
	Stop Method. More...

Public Attributes
	id
	enablePin
	mPin1
	mPin2
	ch1
	ch2
	duty
	startup_flag

Detailed Description

Motor Driver Class.

This class implements a motor driver for the ME405 board.

Constructor & Destructor Documentation

__init__()

def motorDriver.DCMotor.__init__	(		self,
			idNum,
			nSleep_pin,
			in1_pin,
			in2_pin,
			timer,
			ch1,
			ch2,
			duty = 0
	)

Initializes the Motor Driver class.

Creates a motor driver by initializing GPIO pins and turning the motor off for safety. Stores values as self.variables in order to be used in different parts of the class.

Parameters

idNum	ID number of motor
nSleep_pin	A pyb.Pin object to use as the enable pin. [OUT]
in1_pin	A pyb.Pin object to use as the input to half bridge 1. [OUT]
in2_pin	A pyb.Pin object to use as the input to half bridge 2. [OUT]
timer	A pyb.Timer object to use for PWM generation on IN1_pin and IN2_pin.
ch1	channel for in1_pin
ch2	channel for in2_pin
duty	indicated the power assigned to the motor (default 0, min -100, max 100)

Member Function Documentation

brake()

def motorDriver.DCMotor.brake

(

self

)

Brake Method.

Set duty cycle on ch1 and ch2 to cause motor to attempt to turn in both direction at the same rate. This causes them to remain stationary. @params None

disable()

def motorDriver.DCMotor.disable

(

self

)

Disabling method.

Sets the enable pin object to low to stop the all motors connected to the pin (stop output to them at least, they can still coast or be pushed)

Parameters

None

driveBKWD()

def motorDriver.DCMotor.driveBKWD

(

self

)

Backward Drive method.

Set duty on ch2 to drive motor backward continuously @params None

driveFWD()

def motorDriver.DCMotor.driveFWD

(

self

)

Forward Drive method.

Set duty on ch1 to drive motor forward continuously @params None

enable()

def motorDriver.DCMotor.enable

(

self

)

Enabling Method.

Sets the enable pin object to high in order to allow all motors connected to it to run.

Parameters

None

setDuty()

def motorDriver.DCMotor.setDuty	(		self,
			duty
	)

Duty input.

This method sets the duty cycle to be sent to the motor to the given level. Positive values cause effort in one direction, negative values in the opposite direction.

Parameters

duty	A signed integer holding the duty cycle of the PWM signal sent to the motor

stop()

def motorDriver.DCMotor.stop

(

self

)

Stop Method.

This method sets the duty cycle to be sent to the motor as 90 in both directions, therefore keeping the motor exactly where it is.

Parameters

None

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

• Labs/motorDriver.py