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Merge pull request #410 from SingTown/master
add tb6612 library, DC motors and stepper example
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commit
43c0568267
31
scripts/examples/23-Motor-Shield/motor.py
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31
scripts/examples/23-Motor-Shield/motor.py
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# Motor Shield DC Motor Example
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#
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# This example shows off how to use your motor shield
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# to control 2 DC motor.
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import time
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from tb6612 import Motor
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m1 = Motor(1) # motor 1: A0 and A1
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m2 = Motor(2) # motor 2: B0 and B1
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while (True):
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m1.set_speed(100) # Forward
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m2.set_speed(100) # Forward
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time.sleep(1000)
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m1.set_speed(0) # Stop
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m2.set_speed(0) # Stop
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time.sleep(1000)
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m1.set_speed(-100) # Reverse
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m2.set_speed(-100) # Reverse
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time.sleep(1000)
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m1.set_speed(0) # Stop
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m2.set_speed(0) # Stop
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time.sleep(1000)
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m1.set_speed(-50) # Reverse slow
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m2.set_speed(-50) # Reverse slow
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time.sleep(1000)
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14
scripts/examples/23-Motor-Shield/stepper.py
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scripts/examples/23-Motor-Shield/stepper.py
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# Motor Shield Stepper Motor Example
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#
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# This example shows off how to use your motor shield
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# to control 1 stepper motor.
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import time
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from tb6612 import Stepper
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stepper = Stepper() # default rpm=2, power=50
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stepper.set_speed(1) # rpm = 1
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stepper.set_power(80) #set pwm
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while (True):
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stepper.step(200) # motor rotates 1 circle
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time.sleep(1000)
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59
scripts/libraries/tb6612.py
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scripts/libraries/tb6612.py
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import pyb
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class Motor():
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def __init__(self, channel):
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if channel == 1:
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self.pin1 = pyb.Pin('P3', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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self.pin2 = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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tim = pyb.Timer(4, freq=1000)
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self.power = tim.channel(1, pyb.Timer.PWM, pin=pyb.Pin("P7"), pulse_width_percent=0)
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elif channel == 2:
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self.pin1 = pyb.Pin('P1', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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self.pin2 = pyb.Pin('P0', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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tim = pyb.Timer(4, freq=1000)
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self.power = tim.channel(2, pyb.Timer.PWM, pin=pyb.Pin("P8"), pulse_width_percent=0)
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def set_speed(self, pwm):
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if pwm < 0:
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self.pin1.low()
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self.pin2.high()
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else:
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self.pin1.high()
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self.pin2.low()
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self.power.pulse_width_percent(abs(pwm))
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class Stepper():
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def __init__(self, stepnumber=200, rpms=2, power=50):
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self.stepnumber = stepnumber
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self.pin1 = pyb.Pin('P3', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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self.pin2 = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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self.pin3 = pyb.Pin('P1', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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self.pin4 = pyb.Pin('P0', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
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tim = pyb.Timer(4, freq=1000)
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self.power1 = tim.channel(1, pyb.Timer.PWM, pin=pyb.Pin("P7"), pulse_width_percent=0)
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self.power2 = tim.channel(2, pyb.Timer.PWM, pin=pyb.Pin("P8"), pulse_width_percent=0)
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self.set_speed(rpms)
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self.set_power(power)
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self.phase = self.phase_list()
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def phase_list(self):
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phase_list = [(1,0,0,0), (0,0,1,0), (0,1,0,0), (0,0,0,1)]
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while True:
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for p in phase_list:
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yield p
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def set_speed(self, rpms):
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self.delay_time = int(1000000/(rpms*self.stepnumber)/2)
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def set_power(self, power):
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self.power1.pulse_width_percent(power)
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self.power2.pulse_width_percent(power)
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def step(self, num):
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for i in range(num):
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phase = self.phase.__next__()
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self.pin1.value(phase[0])
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self.pin2.value(phase[1])
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self.pin3.value(phase[2])
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self.pin4.value(phase[3])
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pyb.udelay(self.delay_time)
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