motorDriver.MotorBase Class Reference

Fault Section. More...

Public Member Functions
def	__init__ (self, nFault_pin, motor1, motor2)
	Initialization section. More...
def	faultISR (self)
	Fault pin ISR. More...
def	UnFaultISR (self)
	Fault pin ISR. More...
def	enableMotors (self)
	Enable both motors method. More...

Public Attributes
	motor1
	motor2
	faultPin
	motors

Detailed Description

Fault Section.

Sets up our fault pin ISR and saves motors with names then calls methods from the DCMotor Class to enable and disable them

Date

Mar. 9, 2021

Copyright

No

Constructor & Destructor Documentation

__init__()

def motorDriver.MotorBase.__init__	(		self,
			nFault_pin,
			motor1,
			motor2
	)

Initialization section.

Saves the parameters as self. variables in order to be used in other parts of the code. Also sets the fault pin and enables the external interrupts.

Parameters

nFault_pin	fault detection pin [IN]
motor1	DC motor 1
motor2	DC motor 2

Member Function Documentation

enableMotors()

def motorDriver.MotorBase.enableMotors

(

self

)

Enable both motors method.

Calls on the enable method from the DCMotor class in order to allow both motors to be turned on.

Parameters

None

faultISR()

def motorDriver.MotorBase.faultISR

(

self

)

Fault pin ISR.

Interrupt service routine to handle cases where the nFAULT bit has been tripped. To resume operation the motor must be re-enabled

Parameters

None

UnFaultISR()

def motorDriver.MotorBase.UnFaultISR

(

self

)

Fault pin ISR.

Interrupt service routine to handle cases where the nFAULT bit has been tripped. To resume operation the motor must be re-enabled

Parameters

None

---

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

• Labs/motorDriver.py