def motor_on(self, motor, direction, speed=100):
"""
Turn motor with the given direction and speed
:param motor: KMotor.MOTOR1 or KMotor.Motor2
:param direction: KMotor.FORWARD or KMOTOR.REVERSE
:param speed: 0 - 100
:return:
"""
# make sure the speed is within range
if not 0 <= speed <= 100:
# not display a "NO" and return
display.show(Image.NO)
return
# speed needs to be scaled from 0-100 to 0-1023
speed = self._scale(speed)
# Move Motor Forward
if direction == KMotor.FORWARD:
if motor == KMotor.MOTOR_1:
pin8.write_analog(speed)
pin12.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin0.write_analog(speed)
pin16.write_digital(0)
# Move Motor In Reverse
else:
if motor == KMotor.MOTOR_1:
pin12.write_analog(speed)
pin8.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin16.write_analog(speed)
pin0.write_digital(0)
def motor_brake(self, motor):
if motor == KMotor.MOTOR_1:
pin8.write_digital(1)
pin12.write_digital(1)
else:
pin0.write_digital(1)
pin16.write_digital(1)
def motor_brake(self, motor):
"""
Brake the selected motor.
:param motor:
:return:
"""
if motor == KMotor.MOTOR_1:
pin8.write_digital(1)
pin12.write_digital(1)
else:
pin0.write_digital(1)
pin16.write_digital(1)
def motor_on(self, motor, direction, speed=100):
if not 0 <= speed <= 100:
display.show(Image.NO)
return
speed = self._scale(speed)
if direction == KMotor.FORWARD:
if motor == KMotor.MOTOR_1:
pin8.write_analog(speed)
pin12.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin0.write_analog(speed)
pin16.write_digital(0)
else:
if motor == KMotor.MOTOR_1:
pin12.write_analog(speed)
pin8.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin16.write_analog(speed)
pin0.write_digital(0)
