motorDriver.py File Reference

Motor Driver. More...

Classes
class	motorDriver.MotorBase
	Fault Section. More...
class	motorDriver.DCMotor
	Motor Driver Class. More...

Functions
def	motorDriver.makeMotorBase (motors)
	Function for making the motor base. More...
def	motorDriver.makeMotors (freq=10000)
	Motor Making function. More...

Detailed Description

Motor Driver.

Runs the Motor.

Driver to interface the DC motors with the STM32 using PWM and the DRV8847 motor driver

Author

Hunter Morse and Jacob Everest

Date

March 11, 2021

Initializes a motor object when used by the user. This can be done with multiple different pin values in order to run more than one motor at a time. It uses timer channel objects and pulse width modulation to run the motors connected to the right pins at varying speeds. These pins can be attached to the same timer number, but must have different channels on that timer. Thus, they can run independently of each other.

Author

Hunter Morse

Jacob Everest

Function Documentation

makeMotorBase()

def motorDriver.makeMotorBase

(

motors

)

Function for making the motor base.

Quickly make a MotorBase object given a tuple of 2 motor objects (from makeMotors() function

Parameters

motors

A tuple of 2 DCMotor objects

Returns

base MotorBase object

makeMotors()

def motorDriver.makeMotors

(

freq = 10000

)

Motor Making function.

Quickly create to motow objects at a given frequncy (default 5000Hz)

Parameters

freq	Optional motor timer frequency (default 5000 Hz)

Returns

motors A tuple containing two motor objects