From 1337de59b712c30c447b2b45de9ec54ecd6d8ea4 Mon Sep 17 00:00:00 2001
From: Matt Strapp <matt@mattstrapp.net>
Date: Fri, 18 Feb 2022 12:41:51 -0600
Subject: Hopefully get the system able to be packaged

Signed-off-by: Matt Strapp <matt@mattstrapp.net>
---
 System/Pendulum/motor.py | 76 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 76 insertions(+)
 create mode 100644 System/Pendulum/motor.py

(limited to 'System/Pendulum/motor.py')

diff --git a/System/Pendulum/motor.py b/System/Pendulum/motor.py
new file mode 100644
index 0000000..427d393
--- /dev/null
+++ b/System/Pendulum/motor.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+
+# Import required modules
+import RPi.GPIO as GPIO
+from time import sleep
+
+# 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)
+        self.current_speed = 0.
+    # 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 == self.current_speed:
+            # do not attempt to readjust speed; this can cause erratic behavior
+            return
+        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))
+        self.current_speed = speed
+        sleep((1./pwm_frequency) * 3)
+    # 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)
+        self.current_speed = 0.
+    # 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)
+        self.current_speed = 0.
+    # END Coast
+    
\ No newline at end of file
-- 
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