30 lines
975 B
Python
30 lines
975 B
Python
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import machine
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class Motor:
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def __init__(self, enable, dir1, dir2):
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self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
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self.enable_pwm = machine.PWM(self.enable_pin)
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self.enable_pwm.freq(250)
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self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
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self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
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self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
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self.reverse()
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def reverse(self):
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self.direction = not self.direction
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self.dir1_pin.value(self.direction)
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self.dir2_pin.value(not self.direction)
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def speed(self, value):
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if value > 0: # forward
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if not self.direction: # switch direction if necessary
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self.reverse()
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else: # backward
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if self.direction: # switch direction if necessary
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self.reverse()
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# apply value as pwm signal
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self.enable_pwm.duty(int(abs(value)*10.23))
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