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motorcontroller.py
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motorcontroller.py
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from logger import Logger
from machine import PWM
class MotorController:
def __init__(self, in1, in2, in3, in4):
self.logger = Logger()
self.caller = "MotorController"
self.FORWARD_BACKWARD_DUTY = int((65536 / 100) * 100)
self.LEFT_RIGHT_DUTY = int((65536 / 100) * 30)
self.FORWARD = 1
self.BACKWARD = 2
self.STOP = 3
self.status = self.STOP
self.in1 = PWM(in1, freq=1000, duty_u16=0)
self.in2 = PWM(in2, freq=1000, duty_u16=0)
self.in3 = PWM(in3, freq=1000, duty_u16=0)
self.in4 = PWM(in4, freq=1000, duty_u16=0)
def left(self):
self.logger.debug(self.caller, "left")
if self.status == self.FORWARD:
self.in1.duty_u16(self.LEFT_RIGHT_DUTY)
self.in2.duty_u16(0)
self.in3.duty_u16(0)
self.in4.duty_u16(self.FORWARD_BACKWARD_DUTY)
if self.status == self.BACKWARD:
self.in1.duty_u16(0)
self.in2.duty_u16(self.LEFT_RIGHT_DUTY)
self.in3.duty_u16(self.FORWARD_BACKWARD_DUTY)
self.in4.duty_u16(0)
def left_stop(self):
self.logger.debug(self.caller, "left_stop")
if self.status == self.FORWARD:
self.forward()
elif self.status == self.BACKWARD:
self.backward()
else:
self.stop()
def right(self):
self.logger.debug(self.caller, "right")
if self.status == self.FORWARD:
self.in1.duty_u16(self.FORWARD_BACKWARD_DUTY)
self.in2.duty_u16(0)
self.in3.duty_u16(0)
self.in4.duty_u16(self.LEFT_RIGHT_DUTY)
if self.status == self.BACKWARD:
self.in1.duty_u16(0)
self.in2.duty_u16(self.FORWARD_BACKWARD_DUTY)
self.in3.duty_u16(self.LEFT_RIGHT_DUTY)
self.in4.duty_u16(0)
def right_stop(self):
self.logger.debug(self.caller, "right_stop")
if self.status == self.FORWARD:
self.forward()
elif self.status == self.BACKWARD:
self.backward()
else:
self.stop()
def forward(self):
self.logger.debug(self.caller, "forward")
self.status = self.FORWARD
self.in1.duty_u16(self.FORWARD_BACKWARD_DUTY)
self.in2.duty_u16(0)
self.in3.duty_u16(0)
self.in4.duty_u16(self.FORWARD_BACKWARD_DUTY)
def backward(self):
self.logger.debug(self.caller, "backward")
self.status = self.BACKWARD
self.in1.duty_u16(0)
self.in2.duty_u16(self.FORWARD_BACKWARD_DUTY)
self.in3.duty_u16(self.FORWARD_BACKWARD_DUTY)
self.in4.duty_u16(0)
def stop(self):
self.logger.debug(self.caller, "stop")
self.status = self.STOP
self.in1.duty_u16(0)
self.in2.duty_u16(0)
self.in3.duty_u16(0)
self.in4.duty_u16(0)