drivers.Motor.Motor Class Reference

This class implements a motor driver for the ME405 board. More...

Public Member Functions
def	__init__ (self, pin_ch1, pin_ch2, timer)
	Creates a motor driver by initializing GPIO pins and turning the motor off for safety. More...
def	disable (self)
	Disable the motor and set its speed to zero. More...
def	set_duty (self, duty)
	Set the motor duty cycle. More...

Public Attributes
	ch1
	Forward direction PWM channel.
	ch2
	Reverse direction PWM channel.

Detailed Description

This class implements a motor driver for the ME405 board.

Constructor & Destructor Documentation

__init__()

def drivers.Motor.Motor.__init__	(		self,
			pin_ch1,
			pin_ch2,
			timer
	)

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

Parameters

pin_ch1	A pyb.Pin object to use as the input to half bridge 1.
pin_ch2	A pyb.Pin object to use as the input to half bridge 2.
timer	A pyb.Timer object to use for PWM generation on either pin.

Member Function Documentation

disable()

def drivers.Motor.Motor.disable

(

self

)

Disable the motor and set its speed to zero.

Caution: this method will disable any motors attached to its enable pin.

set_duty()

def drivers.Motor.Motor.set_duty	(		self,
			duty
	)

Set the motor duty cycle.

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:

• labFF/drivers/Motor.py