MotorDriver.MotorDriver Class Reference

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

Public Member Functions
def	__init__ (self, nSLEEP_pin, IN1_pin, IN2_pin, timer, ch1, ch2)
	Creates a motor driver by initializing GPIO pins and turning the motor off for safety. More...
def	enable (self)
	method is called when the user desires to enable the motor. More...
def	disable (self)
	method is called when the user desires to disable the motor. More...
def	set_duty (self, duty)
	This method sets the duty cycle to be sent to the motor to the given level. More...

Public Attributes
	nSLEEP_pin
	init pin connected to nsleep DRV8847 Pin as output
	IN1_pin
	init DRV8847 Pin IN1 which will be used to drive the motor in either a forward or reverse direction
	IN2_pin
	init DRV8847 Pin IN1 which will be used to drive the motor in either a forward or reverse direction
	timer
	init timer (fill in once you better understand this oned)
	ch1
	specifies which channel to use for timer
	ch2
	specifies which channel to use for timer
	t3ch1
	init timer 3 channel 1
	t3ch2
	init timer 3 channel 2
	nFault
	flag to indicate nFault
	FaultInt
	interrupt that is called when the nfault pin is high
	duty
	DRV8847 Pin IN1 goes "high" (with associated duty cycle) More...

Detailed Description

This class implements a motor driver for the ME405 board.

Constructor & Destructor Documentation

__init__()

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

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

Parameters

nSLEEP_pin	A pyb.Pin object to use as the enable pin.
IN1_pin	A pyb.Pin object to use as the input to half bridge 1.
IN2_pin	A pyb.Pin object to use as the input to half bridge 2.
timer	A pyb.Timer object to use for PWM generation on IN1_pin and IN2_pin.
ch1	A value to select the channel on the timer
ch2	A value to select the channel on the timer

Member Function Documentation

disable()

def MotorDriver.MotorDriver.disable

(

self

)

method is called when the user desires to disable the motor.

This sets the output of nsleep DRV8847 Pin to 0 (low).

enable()

def MotorDriver.MotorDriver.enable

(

self

)

method is called when the user desires to enable the motor.

This sets the output of nsleep DRV8847 Pin to 1 (high).

set_duty()

def MotorDriver.MotorDriver.set_duty	(		self,
			duty
	)

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 integer holding the duty cycle of the PWM signal sent to the motor

Member Data Documentation

duty

MotorDriver.MotorDriver.duty

DRV8847 Pin IN1 goes "high" (with associated duty cycle)

DRV8847 Pin IN2 goes low

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

• MotorDriver.py