m_driver.MotorDriver Class Reference

This class implements a motor driver for the ME405 board. More...

Public Member Functions
def	__init__ (self, motor, nSLEEP_pin, nFAULT_pin, IN1_pin, ch1, IN2_pin, ch2, timer)
def	enable (self)
	Sets the nSLEEP pin to high which enables the motors.
def	disable (self)
	Sets the nSLEEP pin to low which disables the motors.
def	set_duty (self, duty)
	Sets the duty cycle of the motor. More...
def	CheckFault (self)
	Checks pin PB2 to see if there is a fault present. More...
def	myCallback (self, IQR_source)
	Callback function. More...

Public Attributes
	pinA15
	nSLEEP pin setup
	pin1
	Initialize timer and pins.
	pin2
	tim
	tchA
	tchB
	pinPB2
	nFAULT pin setup
	fault_state
	Initialize nFAULT pin self.fault_state = self.pinPB2.value()
	motor
	Initializes the motor object.
	extint
	Detects when the the nFAULT pin is set to LOW and the callback function is called.
	inpt

Detailed Description

This class implements a motor driver for the ME405 board.

Constructor & Destructor Documentation

__init__()

def m_driver.MotorDriver.__init__	(		self,
			motor,
			nSLEEP_pin,
			nFAULT_pin,
			IN1_pin,
			ch1,
			IN2_pin,
			ch2,
			timer
	)

Creates a motor driver by initializing GP10 pins and turning the motor off for safety.

Parameters

motor	A boolean object which represents whether the motor object being created is the primary motor.
nSLEEP_pin	A pyb.Pin object to use as the enable pin.
nFAULT_pin	A pyb.Pin object to use as the fault pin.
IN1_pin	A pyb.Pin object to use as the input to half bridge 1.
ch1	A pyb.Timer.Channel object that selects the first channel
IN2_pin	A pyb.Pin object to use as the input to half bridge 2.
ch2	A pyb.Timer.Channel object that tselects the second channel
timer	A pyb.Timer object to use for PWM generation on IN1_pin and IN2_pin

Member Function Documentation

CheckFault()

def m_driver.MotorDriver.CheckFault

(

self

)

Checks pin PB2 to see if there is a fault present.

This method checks the nFAULT pin for its value. If it is high, then it will enable the motors and resume operation. If it is low, then it will print an error message and continuously check the pin until it is set to high.

myCallback()

def m_driver.MotorDriver.myCallback	(		self,
			IQR_source
	)

Callback function.

This is the callback function that is used when the nFAULT pin is set to low. It checks the instance of the motor for the primary motor and will disable the motors accordingly.

set_duty()

def m_driver.MotorDriver.set_duty	(		self,
			duty
	)

Sets the duty cycle of the motor.

This method sets the duty cycle to be sent to the motor to the given motor to the given level. Positive values cause effort in one direction, negative values in the opposite direction.

Parameters

duty	A signed integer holding the duty cycle of the PWM signal sent to the motor.

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

• m_driver.py