Motor_Driver.MotorDriver Class Reference

Sets up methods required to control a motor. More...

Public Member Functions
def	__init__ (self, timer, nSLEEP_pin, IN1_pin, IN2_pin, channel_A, channel_B)
	Sets up pins and timers for two motors (1 and 2). More...
def	enable (self)
	Sets the motors enable pin to high, allowing operation.
def	disable (self)
	Sets the motors enable pin to low, disabling operation.
def	set_duty (self, duty)
	Adjusts the motors duty cycle based on input parameter. More...

Public Attributes
	enable_pin
	M1_pos
	M1_neg
	timer1
	M1CH1
	M1CH2

Detailed Description

Sets up methods required to control a motor.

The Motor Driver class allows the user to set up two motors using the init method. This method assigns the appropriate pins, timers, and channels required by the motors. The class also includes the enable and disable methods which set the motors enable pin either to high or low. Finally the set duty method allows the user to input a desired motor duty cycle after it has been enabled.

Constructor & Destructor Documentation

__init__()

def Motor_Driver.MotorDriver.__init__	(		self,
			timer,
			nSLEEP_pin,
			IN1_pin,
			IN2_pin,
			channel_A,
			channel_B
	)

Sets up pins and timers for two motors (1 and 2).

Parameters

timer	A timer object used PWM generation on inputs 1,2. @parram nSLEEP_pin A pin object used to define enable pin.
IN1_pin	A pin object used to define half bridge input 1.
IN2_pin	A pin object used to define half bridge input 2.
timer	A timer object used PWM generation on inputs 1,2.
channel_A	Defines the channel for the IN1 pin
channel_B	Defines the channel for the IN2 pin

Member Function Documentation

set_duty()

def Motor_Driver.MotorDriver.set_duty	(		self,
			duty
	)

Adjusts the motors duty cycle based on input parameter.

Parameters

duty	A signed integer holding PWM signal duty cycle.

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

• Motor_Driver.py