src.motor_driver.MotorDriver Class Reference

This class implements a L6206 H-Bridge Motor Controller Shield. More...

Public Member Functions
	__init__ (self, en_pin, in1pin, in2pin, timer)
	Creates a motor driver by initializing GPIO pins and turning off the motor for safety.
	set_duty_cycle (self, level)
	This method sets the duty cycle to be sent to the motor to the given level.

Public Attributes
	pinEN
	chIN1A
	chIN2A

Detailed Description

This class implements a L6206 H-Bridge Motor Controller Shield.

Constructor & Destructor Documentation

__init__()

src.motor_driver.MotorDriver.__init__	(		self,
			en_pin,
			in1pin,
			in2pin,
			timer )

Creates a motor driver by initializing GPIO pins and turning off the motor for safety.

Parameters

en_pin	Pin that enables the motor.
in1pin	First pin used for input to Motor's H-bridge.
in2pin	Second pin used for input to Motor's H-bridge.
timer	Timer channel used to drive PWM.

Member Function Documentation

set_duty_cycle()

src.motor_driver.MotorDriver.set_duty_cycle	(		self,
			level )

This method sets the duty cycle to be sent to the motor to the given level.

Positive values cause torque in one direction, negative values in the opposite direction. Input levels less than -100 or greater than 100 automatically saturate

Parameters

level

A signed integer for the percent duty cycle sent to the motor. Ideally between -100 and 100.

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The documentation for this class was generated from the following file:

• src/motor_driver.py