class FIT_Motor:
def __init__(self, in1, in2, in3):
self.direction = OutputDevice(in1, initial_value=True) # direction Pin
self.speed = PWMOutputDevice(in2, initial_value=1,
frequency=980) # speed Pin
self.encoder = DigitalInputDevice(in3)
#self.encoder = SmoothedInputDevice(in3, threshold=0.01, partial=True)
self.total_time = 1.0 / (self.speed.frequency / 2.0)
def changeDirection(self):
self.direction.toggle()
def setStop(self):
self.speed.on()
def setSpeed(self, speed):
speed_val = abs(speed) / 20.8
if speed_val < 0.01:
self.setStop()
else:
self.speed.blink(on_time=self.total_time -
speed_val * self.total_time,
off_time=self.total_time * speed_val)
def readEncoder(self, val):
# print("Nothing")
reading = self.encoder.value
return reading
from PWMChannel import PWMInputDevice
from gpiozero import PWMOutputDevice
PWM_FREQ = 500
PWM_MIN_PERIOD = 0.001 # 1ms
PWM_MAX_PERIOD = 0.002 # 1ms
##########
# Inputs #
##########
input_channel = PWMInputDevice(24)
###########
# Outputs #
###########
emulated_pwm = PWMOutputDevice(23, frequency=PWM_FREQ)
emulated_pwm.blink(on_time=PWM_MIN_PERIOD,
off_time=(1 / PWM_FREQ - PWM_MIN_PERIOD))
while True:
print(input_channel.pulse_width)