m_driver Namespace Reference

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

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

Variable Documentation

duty

m_driver.duty = input('Enter a duty percentage (0-100) \n')

m1

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.

m2

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.

pin_IN1

m_driver.pin_IN1 = pyb.Pin(pyb.Pin.cpu.B4)

The pin object used for the Motor 1's H-bridge input 1.

pin_IN2

m_driver.pin_IN2 = pyb.Pin(pyb.Pin.cpu.B5)

The pin object used for the Motor 1's H-bridge input 2.

pin_IN3

m_driver.pin_IN3 = pyb.Pin(pyb.Pin.cpu.B0)

The pin object used for the Motor 2's H-bridge input 1.

pin_IN4

m_driver.pin_IN4 = pyb.Pin(pyb.Pin.cpu.B1)

The pin object used for the Motor 2's H-bridge input 2.

pin_nFAULT

m_driver.pin_nFAULT = pyb.Pin(pyb.Pin.board.PC13, pyb.Pin.IN)

The pin object used for the motor driver fault pin.

Here the user-button is used to simulate a fault for testing behavior.

pin_nSLEEP

m_driver.pin_nSLEEP = pyb.Pin(pyb.Pin.cpu.A15, pyb.Pin.OUT_PP)

The pin object used for the H-bridge sleep pin.

run_time

m_driver.run_time = utime.ticks_diff(stop,start)

start

m_driver.start = utime.ticks_us()

stop

m_driver.stop = utime.ticks_us()

test_mot

m_driver.test_mot = input('Which motor? (A/B): ')

The motor selection for testing.

test_type

m_driver.test_type = input('Running test, time test, motion test, fault test? (r/t/m/f): ')

The test type used (running or timed)

tim

m_driver.tim = pyb.Timer(3,freq=20000);

The timer object used for PWM generation.