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60 lines
1.8 KiB
Python
60 lines
1.8 KiB
Python
3 years ago
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from machine import Pin, PWM
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class Motor:
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def __init__(self, pwm_pin, in1_pin, in2_pin) -> None:
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self.pwm = pwm_pin
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self.in1 = in1_pin
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self.in2 = in2_pin
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class MotorController:
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def __init__(self, left_motor, right_motor) -> None:
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self.left = left_motor
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self.right = right_motor
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def forward(self):
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self.left.in1.value(1)
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self.left.in2.value(0)
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self.right.in2.value(1)
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self.right.in1.value(0)
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self.left.pwm.duty_u16(65535 // 2)
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self.right.pwm.duty_u16(65535 // 2)
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def reverse(self):
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self.left.in1.value(0)
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self.left.in2.value(1)
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self.right.in2.value(0)
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self.right.in1.value(1)
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self.left.pwm.duty_u16(65535 // 2)
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self.right.pwm.duty_u16(65535 // 2)
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def stop(self):
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self.left.pwm.duty_u16(0)
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self.right.pwm.duty_u16(0)
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@classmethod
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def from_config(cls, pin_config):
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return cls(
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Motor(
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# 100Hz duty cycle, range 0-65535
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pwm_pin=PWM(
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Pin(pin_config["left"]["motor"]["pwm"], Pin.OUT),
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freq=100,
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duty_u16=0,
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),
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in1_pin=Pin(pin_config["left"]["motor"]["in1"], Pin.OUT),
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in2_pin=Pin(pin_config["left"]["motor"]["in2"], Pin.OUT),
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),
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Motor(
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# 100Hz duty cycle, range 0-65535
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pwm_pin=PWM(
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Pin(pin_config["right"]["motor"]["pwm"], Pin.OUT),
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freq=100,
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duty_u16=0,
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),
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in1_pin=Pin(pin_config["right"]["motor"]["in1"], Pin.OUT),
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in2_pin=Pin(pin_config["right"]["motor"]["in2"], Pin.OUT),
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),
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)
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