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added kick-start for small motor control signals

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This commit is contained in:
Simon Pirkelmann 2020-10-24 20:05:39 +02:00
parent 7f194f57f2
commit ab6cc79eea
1 changed files with 8 additions and 0 deletions
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8
micropython_firmware/d1motor.py
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@ -10,6 +10,10 @@ m0.speed(5000)
""" """
import ustruct import ustruct
import utime
import math
sign = lambda x: math.copysign(1, x)
_STATE_BRAKE = const(0) _STATE_BRAKE = const(0)
@ -49,6 +53,10 @@ class Motor:
def speed(self, speed=None): def speed(self, speed=None):
if speed is None: if speed is None:
return self._speed return self._speed
if abs(speed) < 30 and abs(speed) > 10: # kick-start for small speeds
self.speed(int(100 * sign(speed)))
utime.sleep_ms(5)
if speed > 0: if speed > 0:
self._speed = min(10000, max(1, speed)) self._speed = min(10000, max(1, speed))
self._state = _STATE_RIGHT self._state = _STATE_RIGHT