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#Driver for the l298n Dual HBridge motor controller.
from pwm import pwm
from pyb import Pin, delay
class motor( ):
"""Control a motor connected to the L298N Dual motor controller."""
def __init__( self, forward, backward, speed ) :
"""forward pin name, backward pin name, speed = (pin name, timer#)
Need to make sure the given timer # is associated with the speed
pin or an exception will be raised. The speed pin must support
PWM.
#Examples:
m1 = motor('Y1', 'Y2', ('Y3', 4))
m2 = motor('Y5', 'Y6', ('Y4', 4)) """
self._forward = Pin(forward, Pin.OUT_PP)
self._backward = Pin(backward, Pin.OUT_PP)
self._speedControl = pwm(speed[0], speed[1])
self._speed = 0
@property
def speed( self ) : return self._speed
@speed.setter
def speed( self, value ) :
self._speed = value
if (value == 0):
self._forward.low()
self._backward.low()
elif (value < 0):
self._forward.low()
self._backward.high()
else:
self._forward.high()
self._backward.low()
self._speedControl.pulse_width_percent = min(100, abs(value))
def brake( self ) :
""" Brake the motor by sending power both directions. """
self._forward.high()
self._backward.high()
self._speedControl.pulse_width_percent = 100
delay(1000)
self.speed = 0
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