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-rw-r--r--System_Python/Motor.py67
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diff --git a/System_Python/Motor.py b/System_Python/Motor.py
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--- a/System_Python/Motor.py
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-#!/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
- \ No newline at end of file