Tested on RPi and minor changes to make it work.

2 files changed, 80 insertions, 13 deletions

diff --git a/System_Python/motor.py b/System_Python/motor.py
new file mode 100644
index 0000000..0f7d891
--- /dev/null
+++ b/System_Python/motor.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python

+

+# Import required modules

+import RPi.GPIO as GPIO

+

+# Constants: parameters that the caller cannot modify

+# Frequency: We have determined that the optimal frequency for our motor is 1kHz

+pwm_frequency = 1000

+

+# Motor Class

+# This controls the motor at the given IO

+class Motor:

+    def __init__(self, speed_pin, forward_pin, reverse_pin):

+        # Set the board IO (just in case it hasn't been done yet)

+        GPIO.setmode(GPIO.BCM)

+        # Set our variables for the directional pins

+        self.forward_pin = forward_pin

+        self.reverse_pin = reverse_pin

+        # setup the IO

+        GPIO.setup(speed_pin, GPIO.OUT)

+        GPIO.setup(self.forward_pin, GPIO.OUT)

+        GPIO.setup(self.reverse_pin, GPIO.OUT)

+        # Set speed pin as a PWM output

+        self.speed_pwm = GPIO.PWM(speed_pin, pwm_frequency)

+    # END __init__

+        

+    # Move the motor at a given speed, given as a floating point percentage (-100 <= x <= 100)

+    # If speed is less than 0, motor will run in reverse, otherwise it will run forward

+    def Move(self, speed):

+        if speed < -100.0 or speed > 100.0:

+            return

+        # Stop any previous movements

+        self.speed_pwm.stop()

+        # Set the duty cycle for the speed of the motor

+        self.speed_pwm.ChangeDutyCycle(abs(speed))

+        if speed < 0:

+            # Set direction to reverse

+            GPIO.output(self.forward_pin, GPIO.LOW)

+            GPIO.output(self.reverse_pin, GPIO.HIGH)

+        else:

+            # Set the direction to forward

+            GPIO.output(self.forward_pin, GPIO.HIGH)

+            GPIO.output(self.reverse_pin, GPIO.LOW)

+        # Start the PWM output to start moving the motor

+        self.speed_pwm.start(abs(speed))

+    # END Move

+    

+    # Stop the motor from spinning.

+    # To brake the motor, both direction outputs are set to HIGH

+    def Brake(self):

+        # Stop any current PWM signals

+        self.speed_pwm.stop()

+        # Set the direction outputs to brake

+        GPIO.output(self.forward_pin, GPIO.HIGH)

+        GPIO.output(self.reverse_pin, GPIO.HIGH)

+    # END Brake

+        

+    # Set the motor to coast (i.e. Do not provide power to the motor, but still allow it to spin)

+    # To coast the motor, both direction outputs are set to LOW

+    def Coast(self):

+        # Stop any current PWM signals

+        self.speed_pwm.stop()

+        # Set the direction outputs to coast

+        GPIO.output(self.forward_pin, GPIO.LOW)

+        GPIO.output(self.reverse_pin, GPIO.LOW)

+    # END Coast

+    
\ No newline at end of file
diff --git a/System_Python/test_Motor.py b/System_Python/test_Motor.py
index f14af59..600f209 100644
--- a/System_Python/test_Motor.py
+++ b/System_Python/test_Motor.py
@@ -2,22 +2,22 @@ from motor import Motor
 import time

 

 # Decide which pins to hook up to on the Pi before running

-speed_pin = 15

-forward_pin = 16

-reverse_pin = 17

+speed_pin = 17

+forward_pin = 27

+reverse_pin = 22

 

 m = Motor(speed_pin, forward_pin, reverse_pin)

 

 dir = 'ascending'

 speed = 0.0

 while 1:

-	m.Move(speed)

-	if speed >= 100.0:

-		dir = 'descending'

-	elif speed <= -100.0:

-		dir = 'ascending'

-	if dir == 'ascending':

-		speed = speed + 0.5

-	else:

-		speed = speed - 0.5

-	time.sleep(0.1)
\ No newline at end of file
+    m.Move(speed)

+    if speed >= 100.0:

+        dir = 'descending'

+    elif speed <= -100.0:

+        dir = 'ascending'

+    if dir == 'ascending':

+        speed = speed + 0.5

+    else:

+        speed = speed - 0.5

+    time.sleep(0.1)
\ No newline at end of file