def __init__(self,
m1ina=VNH_SHIELD_M1INA,
m1inb=VNH_SHIELD_M1INB,
m1en=VNH_SHIELD_M1EN,
m1pwm=VNH_SHIELD_M1PWM,
m2ina=VNH_SHIELD_M2INA,
m2inb=VNH_SHIELD_M2INB,
m2en=VNH_SHIELD_M2EN,
m2pwm=VNH_SHIELD_M2PWM,
pwm_enabled=True,
gpio=GPIO.get_platform_gpio(),
pwm=PWM.get_platform_pwm()):
# Initialise Motors
# Left Motor
self._M1 = Pololu_VNH5019(m1ina,
m1inb,
m1en,
m1pwm,
enable_pwm=pwm_enabled,
gpio=gpio,
pwm=pwm)
# Right Motor
self._M2 = Pololu_VNH5019(m2ina,
m2inb,
m2en,
m2pwm,
enable_pwm=pwm_enabled,
gpio=gpio,
pwm=pwm)
self.motors = [self._M1, self._M2]
# Initialise Motors
self.setBrakes(0, 0)
self._gpio = gpio
def __init__(self,
ina,
inb,
enable,
ctrl,
enable_pwm=True,
gpio=GPIO.get_platform_gpio(),
pwm=PWM.get_platform_pwm()):
# Save GPIO state and pin numbers
self._en = enable
self._ina = ina
self._inb = inb
self._ctrl = ctrl
# Save libraries
self._enable_pwm = enable_pwm
self._pwm = pwm
self._gpio = gpio
# Setup all pins as outputs
for pin in (ina, inb, enable):
self._gpio.setup(pin, GPIO.OUT)
# Setup the PWM speed control
if (enable_pwm):
self._pwm.start(ctrl, 0)
else:
gpio.setup(ctrl, GPIO.OUT)
self._gpio.output(ctrl, False)
# Enable Motor
self._gpio.output(self._en, True)
# Initialise the motor (stationary)
self.setBrake(0)
