MotorDriver.MotorDriver Class Reference

Motor driver class More...

Public Member Functions
def	__init__ (self, motorNum, pinSleep, pinFault, pinIN1, channel1, pinIN2, channel2, timNum)
	Motor driver constructor More...
def	enable (self)
	Enable Motor More...
def	disable (self)
	Disable Motor More...
def	setDuty (self, duty)
	Set Motor Duty Cycle More...
def	brake (self)
	Brake Motor More...
def	faultInterrupt (self, faultPin)
	Fault Pin External Interrupt More...

Public Attributes
	motorNum
	Identifier for the motor object.
	pinSleep
	Defines local object for enable pin.
	pinFault
	Defines local fault pin object for fault pin.
	extint
	Create external interrupt object connected to fault pin.
	pinIN1
	Defines local object for IN1 pin.
	pinIN2
	Defines local object for IN2 pin.
	timer
	Defines local variable for the timer.
	timch1
	Defines timer channel for pinIN1 PWM function.
	timch2
	Defines the timer channel for pinIN2 PWM function.
	faultFlag
	Flag used to signal if fault external interrupt has been triggered. More...

Detailed Description

Motor driver class

Constructor & Destructor Documentation

__init__()

def MotorDriver.MotorDriver.__init__	(		self,
			motorNum,
			pinSleep,
			pinFault,
			pinIN1,
			channel1,
			pinIN2,
			channel2,
			timNum
	)

Motor driver constructor

This constructor creates a motor driver by initializing GPIO pins and turning the motor off for safety.

Parameters

motorNum	A number identifier for the motor object.
pinSleep	A pyb.Pin object to use as the enable pin.
pinFault	A pyb.Pin object to use with an external interrupt to sense current overloads from the motor.
pinIN1	A pyb.Pin object to use as the input to half bridge 1.
channel1	A number identifier for the timer channel for pinIN1.
pinIN2	A pyb.Pin object to use as the input to half bridge 2.
channel2	A number identifier for the timer channel for pinIN2
timNum	A number identifier for the timer used in PWM generation on pinIN1 and pinIN2.

Member Function Documentation

brake()

def MotorDriver.MotorDriver.brake

(

self

)

Brake Motor

Sets duty cycles to both PWM channels low, causing the motor to brake rapidly

disable()

def MotorDriver.MotorDriver.disable

(

self

)

Disable Motor

Turns the enable pin low, disabling motor movement

enable()

def MotorDriver.MotorDriver.enable

(

self

)

Enable Motor

Turns the enable pin high, allowing the motor to move

faultInterrupt()

def MotorDriver.MotorDriver.faultInterrupt	(		self,
			faultPin
	)

Fault Pin External Interrupt

External interrupt method which is triggered when the motor H-bridge fault pin goes low.

Parameters

faultPin

The pin on the hardware which is used to trigger the external interrupt method.

setDuty()

def MotorDriver.MotorDriver.setDuty	(		self,
			duty
	)

Set Motor Duty Cycle

Sets the motor duty cycle according to user input. For forward (CCW) motion when the duty is positive, the duty is assigned to channel 1. For reverse (CW) motion when duty is negatvive, the duty is assigned to channel 2. Duty is clamped between 100 and -100 percent.

Parameters

duty	The desired duty cycle, either positive for forward movement or negative for reverse movement

Member Data Documentation

faultFlag

MotorDriver.MotorDriver.faultFlag

Flag used to signal if fault external interrupt has been triggered.

It is set to false upon initialization.

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The documentation for this class was generated from the following file:

• MotorDriver.py