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_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 readADC(self):
pin16.write_digital(0) # set CS to low to start communication
bytes_received = spi.read(2) # read 2 bytes
pin16.write_digital(1) # set CS to high again to stop communication
MSB_1 = bytes_received[1] >> 1
# shift right 1 bit to remove B01 from the LSB mode
MSB_0 = (bytes_received[0] & 0b00011111) << 7
# first mask the two unknown bits & the null bit
# then shift left 7 bits (i.e. the first 5 of 12 bits)
return MSB_0 + MSB_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)
def __cmd(self, c):
pin16.write_digital(0)
spi.write(bytearray(c))
pin16.write_digital(1)
def __init__(self):
spi.init()
pin16.write_digital(1) # setup CS and set to high
pass
