motor¶

class motor.Motor(pins, pwm_channel, gains)¶

Bases: object

A class to control a DC motor using PWM and direction signals.

pwm_pin¶

Pin object for the PWM signal controlling motor speed.

Type:: Pin

dir_pin¶

Pin object for setting the motor direction.

Type:: Pin

slp_pin¶

Pin object for enabling or disabling the motor.

Type:: Pin

pwm_timer¶

Timer object configured for PWM signal generation.

Type:: Timer

pwm_channel¶

Timer channel used for generating the PWM signal.

Type:: Timer.channel

kp¶

Proportional gain for the PID controller.

Type:: float

ki¶

Integral gain for the PID controller.

Type:: float

integral¶

Integral term accumulation for the PID controller.

Type:: float

prev_time¶

Timestamp of the previous PID update.

Type:: int

del_time¶

Time difference between PID updates.

Type:: int

now¶

Current timestamp for PID calculations.

Type:: int

prev_error¶

Previous error value used in the PID controller.

Type:: float

disable()¶: Disables the motor by setting the sleep pin low.

enable()¶: Enables the motor by setting sleep pin high while keeping PWM at 0.

forward(speed)¶

Moves the motor forward at a specified speed.

Parameters:: speed (int) – Speed percentage (0-100) to apply to the motor.

pid(des, act, vel, mode)¶

Implements a PID controller to adjust motor speed based on error.

Parameters:

des (float) – Desired position or velocity.
act (float) – Actual measured position or velocity.
vel (int) – Base velocity adjustment value.
mode (int) – Control mode (0 for standard PID control, 1 for inverse correction).

reverse(speed)¶

Moves the motor in reverse at a specified speed.

Parameters:: speed (int) – Speed percentage (0-100) to apply to the motor.

stop()¶: Stops the motor by setting PWM to 0 while keeping it enabled.