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Motorsteuerung

Speichere diesen Code auf dem Pico unter dem Namen "motor.py".

Motorbibliothek

from machine import Pin, PWM
import utime
MIN_DUTY = 0
MAX_DUTY = 60000
MAX_SPEED = 100
MIN_SPEED = 30
class Motor:
    '''This class manages the motor. Don't edit!'''
    def __init__(self, pinNo):
        self.gpio = pinNo
        self.speed=0
        self.forward=True
        self.pwm1=PWM(Pin(pinNo))
        self.pwm1.freq(50000)
        self.pwm1.duty_u16(0)
        self.pwm2=PWM(Pin(pinNo+1))
        self.pwm2.freq(50000)
        self.pwm2.duty_u16(0)
        self.speed_offset = 0

    def set_speed(self,s):
        '''Sets the speed of the motor. Checks for sensible input.'''
        if s + self.speed_offset <= MIN_SPEED:
            s = 0
            self.reset_offset()
        elif s + self.speed_offset >= MAX_SPEED:
            s = MAX_SPEED
        self.pwm1.duty_u16(int(MAX_DUTY*(s+self.speed_offset)/100))
        self.speed=s
    
    def change_speed(self,sc):
        '''This defines an offset to the speed in motor. It is used with the remote control to turn the robot.'''
        if self.speed + sc > MIN_SPEED and self.speed + sc < MAX_SPEED: 
            self.speed_offset += sc
            self.set_speed(self.speed)
        
    def reset_offset(self):
        self.speed_offset = 0
        
    def off(self):
        self.pwm1.duty_u16(0)
        self.speed = 0
    
    def set_forward(self,forward):
        '''Sets the motor to forward or backward without changing the speed. '''
        if self.forward==forward:
            return
        self.pwm1.duty_u16(0)
        self.pwm1,self.pwm2=self.pwm2,self.pwm1        
        self.forward=forward
        self.set_speed(self.speed)
        #self.pwm1.duty_u16(int(MAX_DUTY*(self.speed+self.speed_offset)/100)) # uncommenting this causes problems with the remote control. After changing
        # the direction the robot would drive even if the remote control speed said 0.

Beispiel für die Anwendung dieser Bibliothek

Kopiere diesen Code in eine andere Datei auf dem Pico, z. B. „motortest.py“.

from motor import Motor
from utime import sleep, sleep_ms
motor = Motor(12)

motor.set_speed(70)
motor.set_forward(True)
sleep(1)
motor.off()
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