m_driver.py File Reference

Motor Driver. More...

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

Variables
	m_driver.pinA15 = pyb.Pin.cpu.A15
	m_driver.pinB2 = pyb.Pin.board.PB2
	m_driver.pinB4 = pyb.Pin.cpu.B4
int	m_driver.ch1 = 1
	m_driver.pinB5 = pyb.Pin.cpu.B5
int	m_driver.ch2 = 2
bool	m_driver.motor1 = True
	m_driver.pinB0 = pyb.Pin.cpu.B0
int	m_driver.ch3 = 3
	m_driver.pinB1 = pyb.Pin.cpu.B1
int	m_driver.ch4 = 4
bool	m_driver.motor2 = False
int	m_driver.tim = 3
	m_driver.m1 = MotorDriver(motor1, pinA15, pinB2, pinB4, ch1, pinB5, ch2, tim)
	m_driver.m2 = MotorDriver(motor2, pinA15, pinB2, pinB0, ch3, pinB1, ch4, tim)

Detailed Description

Motor Driver.

This code sets up the motor driver for the ME405 board. This can be used to create two objects of this class that can independently control two separate motor drivers.

UPDATE FOR BALL BALANCING PROJECT: Included a saturation zone to account for each motor's deadzone when attached to the platform. Positive and negative bounds are different because the weight of the inertia rods affects the amount of work the motor has to do to move the platform.

Author

Kyle Chuang

Enoch Nicholson