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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,174 +1,174 @@ | ||
| # Reference <!-- omit in toc --> | ||
|
|
||
| - [Getting Started](#getting-started) | ||
| - [Installing](#installing) | ||
| - [Examples](#examples) | ||
| - [Two Motors](#two-motors) | ||
| - [Function Reference](#function-reference) | ||
| - [set_voltage](#set_voltage) | ||
| - [get_voltage](#get_voltage) | ||
| - [set_outputs](#set_outputs) | ||
| - [brake](#brake) | ||
| - [coast](#coast) | ||
| - [forward](#forward) | ||
| - [reverse](#reverse) | ||
| - [set_direction](#set_direction) | ||
| - [get_fault](#get_fault) | ||
| - [clear_fault](#get_fault) | ||
|
|
||
|
|
||
| ## Getting Started | ||
|
|
||
| Most people should grab the library from GitHub and run our simple installer: | ||
|
|
||
| ### Installing | ||
|
|
||
| ``` | ||
| git clone https://github.com/pimoroni/drv8830-python | ||
| cd drv8830-python | ||
| sudo ./install.sh | ||
| ``` | ||
|
|
||
| This ensures any dependencies are installed and will copy examples into `~/Pimoroni/drv8830/` | ||
|
|
||
| You can install just the drv8830 library by running: | ||
|
|
||
| ``` | ||
| sudo pip3 install drv8830 | ||
| ``` | ||
|
|
||
| ## Examples | ||
|
|
||
| ### Two Motors | ||
| [two-motors.py](examples/two-motors.py) | ||
|
|
||
| Demonstrates the use of two DRV8830 drivers as part of a two-wheeled robot. | ||
|
|
||
|
|
||
| ## Function Reference | ||
|
|
||
| In all cases you'll first need to initialise a DRV8830 library instance with the specific I2C address for each driver you're using. | ||
|
|
||
| ```python | ||
| from drv8830 import DRV8830, I2C_ADDR1 | ||
|
|
||
| drv8830 = DRV8830(i2c_addr=I2C_ADDR1) | ||
| ``` | ||
|
|
||
| The value that you use for `i2c_addr` will vary depending on your I2C address jumper configuration: | ||
|
|
||
| * `I2C_ADDR1` - `0x60` - both select jumpers bridged (not cut) (default) | ||
| * `I2C_ADDR2` - `0x61` - only jumper A0 cut (ADDR+1) | ||
| * `I2C_ADDR3` - `0x63` - only jumper A1 cut (ADDR+3) | ||
| * `I2C_ADDR4` - `0x64` - both A0 and A1 cut (ADDR+1 and ADDR+3) | ||
|
|
||
| Ensure care when cutting jumpers, use the point of a sharp hobby-knife and avoid slipping since this may damage other traces. | ||
|
|
||
| ### set_voltage | ||
|
|
||
| ```python | ||
| drv8830.set_voltage(voltage) | ||
| ``` | ||
|
|
||
| Set the motor driver voltage. | ||
|
|
||
| Roughly corresponds to motor speed depending upon the characteristics of your motor. | ||
|
|
||
| Value values range from 0.48v to 5.06v | ||
|
|
||
| ### get_voltage | ||
|
|
||
| ```python | ||
| voltage = drv8830.get_voltage() | ||
| ``` | ||
|
|
||
| Returns the currently set voltage value from the DRV8830. | ||
|
|
||
| ### set_outputs | ||
|
|
||
| ```python | ||
| drv8830.set_outputs(out1, out2) | ||
| ``` | ||
|
|
||
| Set the individual driver outputs. Eg: | ||
|
|
||
| ```python | ||
| drv8830.set_outputs(1, 0) | ||
| ``` | ||
| Possible values are 1 (on) and 0 (off) with the following valid permutations: | ||
|
|
||
| * 1 1 - brake | ||
| * 0 0 - coast | ||
| * 1 0 - forward | ||
| * 0 1 - reverse | ||
|
|
||
| ### brake | ||
|
|
||
| ```python | ||
| drv8830.brake() | ||
| ``` | ||
|
|
||
| Drives both outputs high, effectively braking the motor. | ||
|
|
||
| Does the same as `drv8830.set_outputs(1, 1)` or `drv8830.set_direction("brake")`. | ||
|
|
||
| ### coast | ||
|
|
||
| ```python | ||
| drv8830.coast() | ||
| ``` | ||
|
|
||
| Drives both outputs low, allowing the motor to coast to a stop. | ||
|
|
||
| Does the same as `drv8830.set_outputs(0, 0)` or `drv8830.set_direction("coast")`. | ||
|
|
||
| ### forward | ||
|
|
||
| ```python | ||
| drv8830.forward() | ||
| ``` | ||
|
|
||
| Drives one output high and the other low, effectively turning the motor "forwards" (albeit this depends on how your motor is positioned and wired) | ||
|
|
||
| Does the same as `drv8830.set_outputs(1, 0)` or `drv8830.set_direction("forward")`. | ||
|
|
||
| ### reverse | ||
|
|
||
| ```python | ||
| drv8830.forward() | ||
| ``` | ||
|
|
||
| Drives one output high and the other low, effectively turning the motor in "reverse" (albeit this depends on how your motor is positioned and wired) | ||
|
|
||
| Does the same as `drv8830.set_outputs(0, 1)` or `drv8830.set_direction("reverse")`. | ||
|
|
||
| ### set_direction | ||
|
|
||
| ```python | ||
| drv8830.set_direction(direction) | ||
| ``` | ||
|
|
||
| Accepts a string and sets the direction to the supplied "forward", "backward", "brake" or "coast". | ||
|
|
||
| ### get_fault | ||
|
|
||
| ```python | ||
| fault = drv8830.get_fault() | ||
| ``` | ||
|
|
||
| Returns a namedtuple of the fault flags: | ||
|
|
||
| * `current_limit` - external current limit exceeded (ilimit resistor), must clear fault or disable motor to reactivate | ||
| * `over_temperature` - driver has overheated, device resumes once temperature has dropped | ||
| * `under_voltage` - driver is below operating voltage (brownout), resumes once voltage has stabalised | ||
| * `over_current` - over-current protection activated, device disabled, must clear fault to reactivate | ||
| * `fault` - one or more fault flags is set | ||
|
|
||
| ### clear_fault | ||
|
|
||
| ```python | ||
| drv8830.clear_fault() | ||
| ``` | ||
|
|
||
| Clear any outstanding fault conditions. | ||
| # Reference <!-- omit in toc --> | ||
|
|
||
| - [Getting Started](#getting-started) | ||
| - [Installing](#installing) | ||
| - [Examples](#examples) | ||
| - [Two Motors](#two-motors) | ||
| - [Function Reference](#function-reference) | ||
| - [set_voltage](#set_voltage) | ||
| - [get_voltage](#get_voltage) | ||
| - [set_outputs](#set_outputs) | ||
| - [brake](#brake) | ||
| - [coast](#coast) | ||
| - [forward](#forward) | ||
| - [reverse](#reverse) | ||
| - [set_direction](#set_direction) | ||
| - [get_fault](#get_fault) | ||
| - [clear_fault](#get_fault) | ||
|
|
||
|
|
||
| ## Getting Started | ||
|
|
||
| Most people should grab the library from GitHub and run our simple installer: | ||
|
|
||
| ### Installing | ||
|
|
||
| ``` | ||
| git clone https://github.com/pimoroni/drv8830-python | ||
| cd drv8830-python | ||
| sudo ./install.sh | ||
| ``` | ||
|
|
||
| This ensures any dependencies are installed and will copy examples into `~/Pimoroni/drv8830/` | ||
|
|
||
| You can install just the drv8830 library by running: | ||
|
|
||
| ``` | ||
| sudo pip3 install drv8830 | ||
| ``` | ||
|
|
||
| ## Examples | ||
|
|
||
| ### Two Motors | ||
| [two-motors.py](examples/two-motors.py) | ||
|
|
||
| Demonstrates the use of two DRV8830 drivers as part of a two-wheeled robot. | ||
|
|
||
|
|
||
| ## Function Reference | ||
|
|
||
| In all cases you'll first need to initialise a DRV8830 library instance with the specific I2C address for each driver you're using. | ||
|
|
||
| ```python | ||
| from drv8830 import DRV8830, I2C_ADDR1 | ||
|
|
||
| drv8830 = DRV8830(i2c_addr=I2C_ADDR1) | ||
| ``` | ||
|
|
||
| The value that you use for `i2c_addr` will vary depending on your I2C address jumper configuration: | ||
|
|
||
| * `I2C_ADDR1` - `0x60` - both select jumpers bridged (not cut) (default) | ||
| * `I2C_ADDR2` - `0x61` - only jumper A0 cut (ADDR+1) | ||
| * `I2C_ADDR3` - `0x63` - only jumper A1 cut (ADDR+3) | ||
| * `I2C_ADDR4` - `0x64` - both A0 and A1 cut (ADDR+1 and ADDR+3) | ||
|
|
||
| Ensure care when cutting jumpers, use the point of a sharp hobby-knife and avoid slipping since this may damage other traces. | ||
|
|
||
| ### set_voltage | ||
|
|
||
| ```python | ||
| drv8830.set_voltage(voltage) | ||
| ``` | ||
|
|
||
| Set the motor driver voltage. | ||
|
|
||
| Roughly corresponds to motor speed depending upon the characteristics of your motor. | ||
|
|
||
| Value values range from 0.48v to 5.06v | ||
|
|
||
| ### get_voltage | ||
|
|
||
| ```python | ||
| voltage = drv8830.get_voltage() | ||
| ``` | ||
|
|
||
| Returns the currently set voltage value from the DRV8830. | ||
|
|
||
| ### set_outputs | ||
|
|
||
| ```python | ||
| drv8830.set_outputs(out1, out2) | ||
| ``` | ||
|
|
||
| Set the individual driver outputs. Eg: | ||
|
|
||
| ```python | ||
| drv8830.set_outputs(1, 0) | ||
| ``` | ||
|
|
||
| Possible values are 1 (on) and 0 (off) with the following valid permutations: | ||
|
|
||
| * 1 1 - brake | ||
| * 0 0 - coast | ||
| * 1 0 - forward | ||
| * 0 1 - reverse | ||
|
|
||
| ### brake | ||
|
|
||
| ```python | ||
| drv8830.brake() | ||
| ``` | ||
|
|
||
| Drives both outputs high, effectively braking the motor. | ||
|
|
||
| Does the same as `drv8830.set_outputs(1, 1)` or `drv8830.set_direction("brake")`. | ||
|
|
||
| ### coast | ||
|
|
||
| ```python | ||
| drv8830.coast() | ||
| ``` | ||
|
|
||
| Drives both outputs low, allowing the motor to coast to a stop. | ||
|
|
||
| Does the same as `drv8830.set_outputs(0, 0)` or `drv8830.set_direction("coast")`. | ||
|
|
||
| ### forward | ||
|
|
||
| ```python | ||
| drv8830.forward() | ||
| ``` | ||
|
|
||
| Drives one output high and the other low, effectively turning the motor "forwards" (albeit this depends on how your motor is positioned and wired) | ||
|
|
||
| Does the same as `drv8830.set_outputs(1, 0)` or `drv8830.set_direction("forward")`. | ||
|
|
||
| ### reverse | ||
|
|
||
| ```python | ||
| drv8830.forward() | ||
| ``` | ||
|
|
||
| Drives one output high and the other low, effectively turning the motor in "reverse" (albeit this depends on how your motor is positioned and wired) | ||
|
|
||
| Does the same as `drv8830.set_outputs(0, 1)` or `drv8830.set_direction("reverse")`. | ||
|
|
||
| ### set_direction | ||
|
|
||
| ```python | ||
| drv8830.set_direction(direction) | ||
| ``` | ||
|
|
||
| Accepts a string and sets the direction to the supplied "forward", "backward", "brake" or "coast". | ||
|
|
||
| ### get_fault | ||
|
|
||
| ```python | ||
| fault = drv8830.get_fault() | ||
| ``` | ||
|
|
||
| Returns a namedtuple of the fault flags: | ||
|
|
||
| * `current_limit` - external current limit exceeded (ilimit resistor), must clear fault or disable motor to reactivate | ||
| * `over_temperature` - driver has overheated, device resumes once temperature has dropped | ||
| * `under_voltage` - driver is below operating voltage (brownout), resumes once voltage has stabalised | ||
| * `over_current` - over-current protection activated, device disabled, must clear fault to reactivate | ||
| * `fault` - one or more fault flags is set | ||
|
|
||
| ### clear_fault | ||
|
|
||
| ```python | ||
| drv8830.clear_fault() | ||
| ``` | ||
|
|
||
| Clear any outstanding fault conditions. |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,7 @@ | ||
| import pytest | ||
| from i2cdevice import MockSMBus | ||
|
|
||
|
|
||
| @pytest.fixture(scope='function', autouse=False) | ||
| def i2c_dev(): | ||
| yield MockSMBus(1) | ||
| import pytest | ||
| from i2cdevice import MockSMBus | ||
|
|
||
|
|
||
| @pytest.fixture(scope='function', autouse=False) | ||
| def i2c_dev(): | ||
| yield MockSMBus(1) |