motorDriverChannel.motorDriverChannel Class Reference

Public Member Functions
def	__init__ (self, IN1_pin, IN2_pin, IN_timer, ch1, ch2, mChFlag=False)
	Creates a motor driver channel object by initializing GPIO pins. More...
def	setLevel (self, level)
	Set the level of the motors. More...

Public Attributes
	IN_timer
	The timer for the motors. More...
	IN1_pin
	The timer channel object for half bridge 1 of the motor. More...
	IN2_pin
	The timer channel object for half bridge 2 of the motor. More...
	mChFlag
	Debugging flag for detailed analysis while running.

Constructor & Destructor Documentation

__init__()

def motorDriverChannel.motorDriverChannel.__init__	(		self,
			IN1_pin,
			IN2_pin,
			IN_timer,
			ch1,
			ch2,
			mChFlag = False
	)

Creates a motor driver channel object by initializing GPIO pins.

Example:
self.motX = self.motorDriverObj.channel(Pin.cpu.B0, Pin.cpu.B1, Timer(3, freq=20000), 3, 4, mChFlag = False)

Parameters

IN1_pin	First PWM pin object
IN2_pin	Second PWM pin object
IN_timer	A pyb.Timer object with correct timer number and frequency
ch1	First timer channel number
ch2	Second timer channel number
mChFlag	Debugging flag

Member Function Documentation

setLevel()

def motorDriverChannel.motorDriverChannel.setLevel	(		self,
			level
	)

Set the level of the motors.

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

Parameters

level

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

Member Data Documentation

IN1_pin

motorDriverChannel.motorDriverChannel.IN1_pin

The timer channel object for half bridge 1 of the motor.

This timer channel will be set to PWM in order to control the quadrature encoders at a specified channel number

IN2_pin

motorDriverChannel.motorDriverChannel.IN2_pin

The timer channel object for half bridge 2 of the motor.

This timer channel will be set to PWM in order to control the quadrature encoders at a specified channel number

IN_timer

motorDriverChannel.motorDriverChannel.IN_timer

The timer for the motors.

This is passed in with the specified timer number and frequency

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

• motorDriverChannel.py