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43 lines
1.3 KiB
43 lines
1.3 KiB
1 week ago
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from machine import Pin,PWM
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class Driver:
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def __init__(self, pwma,ain1,ain2,stby,bin2,bin1,pwmb,hz=2000):
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self.__pwma=PWM(Pin(pwma), freq=hz, duty_u16=0)
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self.__ain1 = Pin(ain1, Pin.OUT)
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self.__ain2 = Pin(ain2, Pin.OUT)
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self.__stby = Pin(stby, Pin.OUT)
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self.__bin2 = Pin(bin2, Pin.OUT)
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self.__bin1 = Pin(bin1, Pin.OUT)
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self.__pwmb = PWM(Pin(pwmb), freq=hz, duty_u16=0)
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self.__stby.on()#Enciende el driver
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def setVelocidad(self, motIzq, motDer):
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#Validar que este en el rango
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if(motDer>65535):
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motDer=65535
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if motIzq>65535 :
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motIzq=65535
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if(motDer<-65535):
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motDer=-65535
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if motIzq<-65535 :
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motIzq=-65535
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#REVISAR DIRECCION
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if (motIzq >= 0):
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self.__ain1.on()
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self.__ain2.off()
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else:
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self.__ain1.off()
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self.__ain2.on()
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motIzq=motIzq*-1 #HACER POSITIVO
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if (motDer >= 0):
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self.__bin1.off()
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self.__bin2.on()
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else:
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self.__bin1.on()
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self.__bin2.off()
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motDer=motDer*-1 #HACER POSITIVO
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self.__pwma.duty_u16(int(motIzq))
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self.__pwmb.duty_u16(int(motDer))
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