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| author | damic014 <damic014@umn.edu> | 2019-09-23 15:18:54 -0500 |
|---|---|---|
| committer | damic014 <damic014@umn.edu> | 2019-09-23 15:18:54 -0500 |
| commit | 2a5cbeec4ee5ffb58d1d273ee9e82efec7228ecd (patch) | |
| tree | 04336932397d61f5a965d6bf46e8bc2574ca7f07 /System_Python | |
| parent | Initial commit (diff) | |
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Added Motor class
Diffstat (limited to '')
| -rw-r--r-- | System_Python/Motor.py | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/System_Python/Motor.py b/System_Python/Motor.py new file mode 100644 index 0000000..d2e7958 --- /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.BOARD)
+ # 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()
+ # 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
+
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