79 lines
1.7 KiB
Python
79 lines
1.7 KiB
Python
import time
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from RPi import GPIO
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"""This module controls the Motor and Servo control.
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This module provides an interface for interacting with
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the motor on the Traxxas Slash using a Raspberry Pi
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3B+.
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"""
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"""
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"""
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class MotorController:
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def __init__(self, pin_number, frequency, duty_cycle=0):
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self._duty_cycle = duty_cycle
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self._operating_frequency = frequency
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self._running = False
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self.pin_number = pin_number
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# Pulse width was mentioned to be 6-7.2% by uni group.
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GPIO.setmode(GPIO.OUT)
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GPIO.setup(self.pin_number, self._operating_frequency)
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self._control_pin = GPIO.PWM(self.pin_number, self._duty_cycle)
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@property
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def duty_cycle(self):
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return self._duty_cycle
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@duty_cycle.setter
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def duty_cycle(self, value):
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if value > 0 and value < 100:
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self._duty_cycle = value
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# Change the current duty cycle of the GPIO.
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self.control.changeDutyCycle
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def start(self):
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if self._running:
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return
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else:
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self._control_pin.start(self._duty_cycle)
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def stop(self):
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self._control_pin.stop()
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def arm(self):
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class MotorDetails:
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def __init__(self):
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@property
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def minDutyCycle(self):
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return self._minDutyCycle
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@minDutyCycle.setter
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def minDutyCycle(self, value):
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self._minDutyCycle = value
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@property
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def maxDutyCycle(self):
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return self._maxDutyCycle
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@maxDutyCycle.setter
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def maxDutyCycle(self, value):
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self._maxDutyCycle = value
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@property
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def idle(self):
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return self._idle
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max_reverse = 1000
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idle = 1500
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max_forward = 2000
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