A motor class for a motor object that is used to return a calculated duty cycle. More...

Public Member Functions
def	__init__ (self, PWM_tim, IN1_pin, IN2_pin, chA, chB)
	Initializes and returns an object associated with a DC Motor. More...

def	set_duty (self, duty)
	Set the PWM duty cycle for the motor channel. More...

Public Attributes
	tim
	creates a timer object tim using the Timer method More...

	Pin1
	creates a pin object Pin1 connected to user input IN1_pin More...

	Pin2
	creates a pin object Pin2 connected to user input IN2_pin More...

	tim_ch1
	creates a timer channel object tim_ch1 More...

	tim_ch2
	creates a timer channel object tim_ch2 More...

Detailed Description

A motor class for a motor object that is used to return a calculated duty cycle.

Objects of this class can be used to apply PWM to a given DC motor. This effectively controls the speed of that motor due to the fact that motors work as low-pass filters.

Constructor & Destructor Documentation

◆ init()

def motor.Motor.__init__	(	self,
		PWM_tim,
		IN1_pin,
		IN2_pin,
		chA,
		chB
	)

Initializes and returns an object associated with a DC Motor.

Objects of this class should not be instantiated directly. Instead create a BNO055 object and use that to create Motor objects using the method BNO055.motor(). This will allow higher-level management of these motor objects by the task files that will utilize and manipulate them.

Parameters

PWM_tim	Creates empty object for an input of pin position for the pin we desire to control all four channels of our pulse width modulation. In this case, we are using timer 3 on the STM32 Nucleo.
IN1_pin	Creates empty object for an input of pin position. The pin passed into this parameter will be the first of two pins required to control the associated motor object instantiated by this class.
IN2_pin	Creates empty object for an input of pin position. The pin passed into this parameter will be the second of two pins required to control the associated motor object instantiated by this class.
chA	Creates empty object for an input of a pin channel. The pin channels will control the direction of rotation of the motor based on the sign of the duty cycle input to the set_duty method.
chB	Creates empty object for an input of a pin channel. The pin channels will control the direction of rotation of the motor based on the sign of the duty cycle input to the set_duty method.

Member Function Documentation

◆ set_duty()

def motor.Motor.set_duty	(	self,
		duty
	)

Set the PWM duty cycle for the motor channel.

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

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

Member Data Documentation

◆ Pin1

motor.Motor.Pin1

creates a pin object Pin1 connected to user input IN1_pin

User input chooses pin. For example, pin input by user can be Pin.cpu.B4

◆ Pin2

motor.Motor.Pin2

creates a pin object Pin2 connected to user input IN2_pin

User input chooses pin. For example, pin input by user can be Pin.cpu.B5

◆ tim

motor.Motor.tim

creates a timer object tim using the Timer method

Timer object PWM_tim passed in by user for the timer at a preset frequency of 20_000

◆ tim_ch1

motor.Motor.tim_ch1

creates a timer channel object tim_ch1

tim_ch1 uses tim.channel connected to user input chA and IN1_pin configured in PWM_INVERTED (active low)

◆ tim_ch2

motor.Motor.tim_ch2

creates a timer channel object tim_ch2