def __init__(self, params):
Motor.__init__(self, params)
self.config = { \
'Name' : 'Async', \
'Phases' : 3, \
'Views' : 3 \
}
self.parameters.update({ \
'P' : 'Number of polepairs', \
'Ls' : 'Stator inductance [H]', \
'Rs' : 'Stator resistance [ohm]', \
'Lr' : 'Rotor inductance [H]', \
'Rr' : 'Rotor resistenca [H]', \
'Lm' : 'Mutual inductance [H]'
})
self.Vin = [float("Nan"), float("Nan"), float("Nan")]
self.I = [0.0, 0.0, 0.0] # Motor currents [A]
self.Ia = 0. # Motor input currents in ab
self.Ib = 0.
self.Phia = 0. # Motor flux in ab
self.Phib = 0.
self.J = 0.01 # Default test
self.set_parameters(params)
# Precalc something
self.K = 1./(self.Ls*self.Lr - self.Lm*self.Lm)
return
def __init__(self,
pin_motor_in1,
pin_motor_in2,
pin_motor_pwm,
pin_servo_pwm,
options):
Motor.__init__(self,
pin_motor_in1,
pin_motor_in2,
pin_motor_pwm,
pin_servo_pwm,
options)
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
GPIO.setup(pin_motor_in1, GPIO.OUT)
GPIO.setup(pin_motor_in2, GPIO.OUT)
GPIO.setup(pin_motor_pwm, GPIO.OUT)
GPIO.setup(pin_servo_pwm, GPIO.OUT)
self.pin_motor_in1 = pin_motor_in1
self.pin_motor_in2 = pin_motor_in2
self.pin_motor_pwm = pin_motor_pwm
self.pin_servo_pwm = pin_servo_pwm
self.motor = GPIO.PWM(pin_motor_pwm, self.CLOCK)
self.stearing = GPIO.PWM(pin_servo_pwm, self.CLOCK)
def __init__(self, params):
Motor.__init__(self, params)
self.config = { \
'Name' : 'BLDC', \
'Phases' : 3, \
'Views' : 3 \
}
self.parameters.update({ \
'P' : 'Number of polepairs', \
'Ld' : 'D-axis inductance [H]', \
'Lq' : 'Q-axis inductance [H]', \
'R' : 'Coil resistance [ohm]', \
'Ke' : 'Flux coefficient [B?/rad]' \
})
self.Vin = [float("Nan"), float("Nan"), float("Nan")]
self.I = [0.0, 0.0, 0.0] # Motor currents [A]
self.Bemf = [0.0, 0.0, 0.0] # Back-EMF voltage [A]
self.hall = [0, 0, 0] # Hall position sensors
self.set_parameters(params)
return
def __init__(self, identifier, address, sync_client, type):
Motor.__init__(self, identifier, address, sync_client)
self.initialized = False
if type == "left":
self.multiplier = -1
elif type == "right":
self.multiplier = 1
else:
self.multiplier = 1
self.current_speed = 0
def __init__(self, params):
Motor.__init__(self, params)
self.config = { \
'Name' : 'PMDC', \
'Phases' : 1, \
'Views' : 3 \
}
self.parameters.update({ \
'L' : 'Coil inductance [H]', \
'R' : 'Coil resistance [ohm]', \
'Ke' : 'Voltage coefficient [V/rad]' \
})
self.Vin = float("Nan")
self.I = 0.0 # Motor current [A]
self.Bemf = 0.0 # Back-EMF voltage [A]
self.set_parameters(params)
return
def __init__(self, params):
Motor.__init__(self, params)
self.config = { \
'Name' : 'DC', \
'Phases' : 2, \
'Views' : 3 \
}
self.parameters.update({ \
'Lf' : 'Field coil inductance [H]', \
'Rf' : 'Field coil resistance [ohm]', \
'Ra' : 'Armature coil resistance [ohm]', \
'Ke' : 'Voltage coefficient [V/rad]' \
})
self.Vin = [float("Nan"), float("NaN")]
self.I = [0.0, 0.0] # Motor current [A]
self.Bemf = 0.0 # Back-EMF voltage [A]
self.set_parameters(params)
return
def __init__(self, name):
Motor.__init__(self, name, name)
self.serial_com = serial.Serial(Config.get_swivel_encoder_port(),Config.get_swivel_encoder_baud())
self._last_angle = 0
def __init__(self, nome, pin_vel, pin_dir):
self.name = nome
Motor.__init__(self, pin_vel, pin_dir)
def __init__(self, identifier, address, sync_client):
assert isinstance(identifier, str)
assert isinstance(sync_client, ModbusSerialClient)
assert isinstance(address, int)
Motor.__init__(self, identifier, address, sync_client)
self.initialized = False