def printme(pinnum, boolval):
"This prints a passed string into this function"
gpio_out = GPIO(pinnum, "out")
value = boolval
gpio_out.write(value)
gpio_out.close()
return str(True)
class MotorController(object):
"""电机控制类 v2."""
FRONT_DIR = 1
BACK_DIR = 0
def __init__(self, pwm_args, dir_args, enable_args):
"""
:param pwm_args: e.g. {'gpio_name': 'GPIO7A1', 'mux': 1, 'name': 'PWM1', 'freq': 'xx', 'duty': 'xx'}
:param dir_args: e.g. {'name': 'GPIO8A4', 'write': 0}
:param enable_args: e.g. {'name': 'GPIO8A7', 'write': 1}
"""
self._pwm = SmartPwm(pwm_args['name'])
self._pwm.set_config(pwm_args['freq'], pwm_args['freq'] / 2)
self._dir = GPIO(dir_args['name'])
self._dir.set_output()
self._dir.write(dir_args['write'])
self._enable = GPIO(enable_args['name'])
self._enable.set_output()
self._enable.write(enable_args['write'])
def start(self):
self._enable.write(0)
self._pwm.start()
def stop(self):
self._pwm.stop()
self._enable.write(1)
def set_freq(self, freq):
self._pwm.set_config(freq, freq / 2)
@property
def dir(self):
return self._dir.read()
@dir.setter
def dir(self, value):
self._dir.write(value)
