MotorDriver.MotorDriver Class Reference

A motor driver object. More...

Public Member Functions
def	__init__ (self, pinEN, pinIN1, pinIN2, timer_number, frequency)
	Constructor for motor driver. More...
def	enable (self)
	Enable the Motor. More...
def	disable (self)
	Disables the Motor. More...
def	set_duty (self, duty)
	Sets duty cycle for motor. More...

Public Attributes
	pinEN
	pinIN1
	pinIN2
	timer_number
	timch1
	timch2
	pinEN_toggle
	duty

Detailed Description

A motor driver object.

This class implements the motor driver for our ME 405 board.

Author

Matthew Tagupa

Copyright

License Info

Date

April 29, 2020

Constructor & Destructor Documentation

__init__()

def MotorDriver.MotorDriver.__init__	(		self,
			pinEN,
			pinIN1,
			pinIN2,
			timer_number,
			frequency
	)

Constructor for motor driver.

Creates a motor driver by initializing GPIO pins and turning the motor off for safety.

Parameters

pinEN	A pyb.Pin object to use as the enable pin.
pinIN1	A pyb.Pin object to use as the input to half bridge 1.
pinIN2	A pyb.Pin object to use as the input to half bridge 2.
timer_number	A pyb.Timer object to use for PWM generation on pinIN1_A and pinIN2_A.
frequency	A timer characteristic

Member Function Documentation

disable()

def MotorDriver.MotorDriver.disable

(

self

)

Disables the Motor.

This method disables the motor. If the motor is already disabled, it will warn the user that it is already disabled.

enable()

def MotorDriver.MotorDriver.enable

(

self

)

Enable the Motor.

This method enables the motor. If the motor is already enabled, it will warn the user that it is already enabled.

set_duty()

def MotorDriver.MotorDriver.set_duty	(		self,
			duty
	)

Sets duty cycle for motor.

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.

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

• MotorDriver.py