m_driver.py File Reference

This file contains a motor driver and code used to test its functionality. More...

Classes
class	m_driver.MotorDriver
	A motor driver designed to work with an H-bridge connected to a Nucleo L476RG running Micropython. More...

Namespaces
	m_driver

Variables
	m_driver.pin_nSLEEP = pyb.Pin(pyb.Pin.cpu.A15, pyb.Pin.OUT_PP)
	The pin object used for the H-bridge sleep pin. More...
	m_driver.pin_nFAULT = pyb.Pin(pyb.Pin.board.PC13, pyb.Pin.IN)
	The pin object used for the motor driver fault pin. More...
	m_driver.pin_IN1 = pyb.Pin(pyb.Pin.cpu.B4)
	The pin object used for the Motor 1's H-bridge input 1. More...
	m_driver.pin_IN2 = pyb.Pin(pyb.Pin.cpu.B5)
	The pin object used for the Motor 1's H-bridge input 2. More...
	m_driver.pin_IN3 = pyb.Pin(pyb.Pin.cpu.B0)
	The pin object used for the Motor 2's H-bridge input 1. More...
	m_driver.pin_IN4 = pyb.Pin(pyb.Pin.cpu.B1)
	The pin object used for the Motor 2's H-bridge input 2. More...
	m_driver.tim = pyb.Timer(3,freq=20000);
	The timer object used for PWM generation. More...
	m_driver.m1 = MotorDriver(pin_nSLEEP, pin_nFAULT, pin_IN1, 1, pin_IN2, 2, tim, dead_band=(-28,28), debug=True, primary=True)
	A motor object passing in the pins and timer. More...
	m_driver.m2 = MotorDriver(pin_nSLEEP, pin_nFAULT, pin_IN3, 3, pin_IN4, 4, tim, dead_band=(-25,25))
	A second motor object passing in the pins and timer. More...
	m_driver.test_type = input('Running test, time test, motion test, fault test? (r/t/m/f): ')
	The test type used (running or timed) More...
	m_driver.test_mot = input('Which motor? (A/B): ')
	The motor selection for testing. More...
	m_driver.start = utime.ticks_us()
	m_driver.stop = utime.ticks_us()
	m_driver.run_time = utime.ticks_diff(stop,start)
	m_driver.duty = input('Enter a duty percentage (0-100) \n')

Detailed Description

This file contains a motor driver and code used to test its functionality.

Author

E. Nicholson

Date

November 10, 2020

The class contained within this file is a motor driver. It connects to four Nucleo pins bound to an H-Bridge motor driver and configures them for PWM using a timer. The conditional at the end of the file allows test code to run if this file is used stand alone. The test code allows the user to run a variety of debugging tests on the driver.

The source code for this file can be found here:

https://bitbucket.org/ewnichol/me305-me405_labs/src/master/me405/me405%20Term%20Project/m_driver.py