Motorsteuerung

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

from machine import Pin, PWM
import utime

class Motor:
    
    def __init__(self, pinNo):
        self.MAX_SPEED = 65535 # The absolute maximum is: 65535. 
        self.gpio = pinNo
        self._on = False
        self.speed=0
        self.pwm1=PWM(Pin(pinNo))
        self.pwm1.freq(2000)
        self.pwm1.duty_u16(0)

    def setSpeed(self,s):
        self._on=True
        self.speed=s
        self.pwm1.duty_u16(int(self.MAX_SPEED*s/100))
    
    def off(self):
        self._on=False
        self.pwm1.duty_u16(0)
    
    def on(self):
        self._on=True
        self.pwm1.duty_u16(int(self.MAX_SPEED*self.speed/100))

class BiMotor(Motor):
    def __init__(self, pinNo):
        super().__init__(pinNo)
        self.forward=True
        self.pwm2=PWM(Pin(pinNo+1))
        self.pwm2.duty_u16(0)
    
    def setForward(self,forward):
        if self.forward==forward:
            return
        self.pwm1.duty_u16(0)
        self.pwm1,self.pwm2=self.pwm2,self.pwm1        
        self.forward=forward
        self.pwm1.duty_u16(int(self.MAX_SPEED*self.speed/100))

Beispiel für die Anwendung dieser Bibliothek

# import motor
from motor import Motor, BiMotor

# Initialize motors 
motor_left= BiMotor(10) # Initializing pins 11 and 12 for left motor.
motor_right= BiMotor(14) # Initializing pins 14 and 15 for right motor.

motor_left.setForward(True)
motor_right.setForward(True)

motor_left.setSpeed(50)
motor_right.setSpeed(50)